Resources

• Udemy Course: ROS-Ultimate-guide-for-Custom-Robotic-Arms-and-Panda-7-DOF

• Course Repository

• Panda URDF

Installations

sudo apt-get install ros-noetic-joint-trajectory-controller
sudo apt-get install ros-noetic-effort-controllers
sudo apt-get install ros-noetic-position-controllers

Package: custom_arm

To control joints in open-loop with joint_state_publisher_gui in RViZ

roslaunch custom_arm rviz.launch

To launch robot in Gazebo and send joint trajectory to robot using terminal

roslaunch custom_arm gazebo_controller.launch
rosrun custom_arm joint_angle.py <joint_1> <joint_2> <joint_3> <joint_4>

Code Execution

Node-Topic Graph

Topic: custom_arm_controller/command
Type: trajectory_msgs/JointTrajectory

header: 
  seq: 1
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
joint_names: 
  - joint_1
  - joint_2
  - joint_3
  - joint_4
points: 
  - 
    positions: [0.83, -0.51, 0.95, 0]
    velocities: [0.0, 0.0, 0.0, 0.0]
    accelerations: [0.0, 0.0, 0.0, 0.0]
    effort: []
    time_from_start: 
      secs: 3
      nsecs:         0

Package: panda_franka

To control joints in open-loop with joint_state_publisher_gui in RViZ

roslaunch panda_franka rviz.launch

RViZ - Joint State Puplisher GUI

Node-Topic Graph

Topic: /joint_states Type: sensor_msgs/JointState

header: 
  seq: 6961
  stamp: 
    secs: 1684978004
    nsecs: 704809665
  frame_id: ''
name: 
  - panda_joint1
  - panda_joint2
  - panda_joint3
  - panda_joint4
  - panda_joint5
  - panda_joint6
  - panda_joint7
position: [-0.6403032999999998, 0.3712456799999999, -0.2132412800000001, -2.1155627800000003, -0.7927012799999997, 2.899349, -0.6101713800000002]
velocity: []
effort: []

To launch robot in Gazebo and send joint trajectory to robot using terminal

roslaunch panda_franka gazebo_controller.launch
rosrun panda_franka joint_angle.py <joint_1> <joint_2> <joint_3> <joint_4> <joint_5> <joint_6> <joint_7>

Code Execution

Node-Topic Graph

To launch robot in Gazebo and send end-effector positions to robot using terminal

roslaunch panda_franka gazebo_controller.launch
rosrun panda_franka panda_goal_point.py <end_effector_x> <end_effector_y> <end_effector_z>