ar4_ros_driver_examples

This repo contains different examples of using 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.

Setup

Clone code and install the dependencies.

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

Build and run.

colcon build

# 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