ar4_ros_driver_examples

This repo demonstrates various usages of the Annin Robotics AR4 robotic arm.

Teleoperation using Xbox controller

The annin_ar4_joystick_servo package highlights how to teleoperate the AR4. It uses moveit_servo to send continuous real-time velocity trajectories to the robot.

Multi-Arm Control in Simulation

The annin_ar4_multi_arm package demonstrates how to control a dual-arm setup in the Gazebo simulation environment. It achieves this by running separate nodes for the left and right arms, each within its own namespace.

Setup

Clone code, install dependencies, and build packages.

mkdir -p ~/ar4_ws/src
cd ~/ar4_ws/src
git clone https://github.com/ycheng517/ar4_ros_driver_examples.git
git clone https://github.com/ycheng517/ar4_ros_driver.git
rosdep install --from-paths . --ignore-src -r -y

colcon build

Running the Teleoperation using Xbox controller Demo

# Launch the robot. Adjust the command based on your robot's version
ros2 launch annin_ar4_driver driver.launch.py ar_model:=mk1 calibrate:=True include_gripper:=True

# Launch Everything else.
ros2 launch annin_ar4_joystick_servo joystick_servo.launch.py ar_model:=mk1 include_gripper:=True

Running the Multi-Arm Control in Simulation Demo

# Launch Gazebo
ros2 launch annin_ar4_multi_arm gazebo.launch.py

# Launch MoveIt and RViz
ros2 launch annin_ar4_multi_arm moveit.launch.py