micro rosso 2dof arm

This a module for the micro_rosso system.

It provides support for a 2dof robotic arm using servos and ROS2. Currently very experimental stuff.
TODO: use precise_servo

Loading and starting

First, import the module into your project's platformio.ini:

lib_deps =
    ...
        "Bento-Robotics/micro_rosso_2dof_arm": "^0.1.0"

Then, in your main.cpp:

...
#include "micro_rosso_2dof_arm.h"
Two_DOF_Arm two_DOF_arm;

Servo servo_top;
Servo servo_bottom;
...
void setup() {
  servo_top.attach(3, 850, 2530);
  servo_bottom.attach(2, 900, 2520);

  const uint32_t linkage_bottom_length_mm = 140;
  const uint32_t linkage_top_length_mm = 250;
  two_DOF_arm.setup(&servo_top, &servo_bottom, linkage_bottom_length_mm, linkage_top_length_mm)
  ...
}

The setup method allows passing an optional topic namespace. It is declared as follows:

  static bool setup(Servo *servo_bottom, Servo *servo_top,
                    uint linkage_bottom_length, uint linkage_top_length,
                    const char *ros_namespace = "/");

Using the module

The module uses the following topics and services:

• sub arm_control_absolute: geometry_msgs/msg/Point. Moves the arm to the given point;
• sub arm_control_relative: geometry_msgs/msg/Point. Moves the arm by the given amount;
• pub joint_states: sensor_msgs/msg/JointState. Joint states for simulation;
• pub rosout: rcl_interfaces/msg/Log. Logging (mostly debug)
• srv home_arm: std_srvs/srv/Trigger. Moves arm into home position (retracted).

Authors and acknowledgment

xxopxe@gmail.com - creator of micro_rosso jvisca@fing.edu.uy - Grupo MINA, Facultad de Ingeniería - Udelar, 2024

License

MIT