Eureka (6 D.O.F.)

Eureka is a 6 degree of freedom robotic arm designed to perform tasks like painting, examine, welding, surgeries and simple pick n place. It utilizes ROS2, Rviz2 for simulation, and implemented MoveIt2 for planning and execution of any task. I've implemented control with the help of ros2_control features for precise motor control (made custom hardware interface).

Table of Contents

1. Features

2. Directory Structure

3. Getting Started

Features

1. Achieves accurate movements as it uses KDL library for calculating inverse kinematics.

2. Easily add custom tools such as grippers, cameras, or sensors.

3. Simulation environment is Rviz2 for testing algorithms.

4. Custom ros2_control hardware interfaces for precise motor control.

Directory Structure

eureka/
|-- config/
|   |-- display.rviz
|   |-- eureka_controller.yaml
|
|-- controller/
|   |-- include/          
|   |   |-- eureka/    
|   |   |   |-- eureka_controller.hpp  
|   |-- eureka_controller.cpp   
|
|-- eureka/
|   |-- __init__.py
|
|-- hardware/
|   |-- include/      
|   |   |-- eureka/
|   |   |   |-- eureka_hardware.hpp
|   |-- eureka_hardware.cpp
|
|-- launch/
|   |-- display.launch.py
|   |-- eureka_controller.launch.py
|   |-- gazebo.launch.py
|   |-- rsp.launch.py
|   |-- send_trajectory.launch.py
|
|-- meshes/ 
|   |-- base_link.stl
|   |-- link1.stl
|   |-- link2.stl
|   |-- link3.stl
|   |-- link4.stl
|   |-- link5.stl
|   |-- link6.stl
|   |-- link7a.stl
|   |-- link7b.stl
|
|-- resource/
|   |-- eureka
|
|-- src/              
|   |-- command_test.cpp
|   |-- send_trajectory.cpp
|
|-- urdf/
|   |-- material.xacro
|   |-- robot.gazebo
|   |-- robot.trans
|   |-- robot.xacro
|   |-- ros2_control.xacro
|
|-- CMakeLists.txt
|
|-- eureka.xml
|
|-- package.xml


eureka_moveit/
|-- config/
|
|-- launch/
|   |-- demo.launch.py
|
|-- src/
|   |-- first.cpp
|
|-- .setup_assistant
|
|-- CMakeLists.txt
|
|-- package.xml

Getting Started

1. Clone the repository:-

   https://github.com/GradVizor/eureka_six_dof_arm.git

2. Make sure to install required packages and dependencies by checking out eureka/package.xml.

3. Build your project:

   Ensure your build system includes the necessary source files and header paths.