I want to connect my 6DoF Robot Arm, the xArm 1S from HIWonder to ROS2. I’m going to MicroROS on a Raspberry PI Pico to do that. Publishing the Joint State message out so that a URDF model in RVIZ2 can show the status of the Robot. Following along and learn about these arms, the servos they use and how they can be monitored in this video.
Whether you are new to robotics or an old hand, watch along as I demonstrate how easy it is to step through the Robot software-building process with ROS2 and MicroROS. In this video I talk about modelling the robot in URDF and connecting the real robot arm to that model using Joint State messages. This is the same process I’ve done for my Video Turntable Robot and DDD, DiY Dev Droid.
I’m really luck that Alan Olsen has built an excellent URDF model of the xArm that I could adapt for mine.
This is part of a set of videos using these robot arms. So remember to subscribe and turn on notifications.
My repo for working with the xArm is: https://github.com/jondurrant/RPIPicoXarm
Also, Chris Courson has a great Repo for controlling the Robot in Arduino. I borrowed heavily from his project.
⏰Timestamps
0:00 Introduction
1:25 Robot Build Process
4:55 Connectivity (Serial)
7:15 URDF Model
9:00 Launching
9:40 Joint State
14:00 Demonstration
15:50 Summary
