Project
To start the communication with Arduino
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
To run the moveit setup with rviz
ros2 launch hubert_group_moveit demo.launch.py
To run the joint value publisher to arduino
ros2 run move_ee joint_publisher
To run trajectory planning and moveit communication
ros2 launch cpp_move_goal move_hubert.launch.py
To run the CV coordinate publisher
ros2 run move_ee coord_publisher
Arduino re-compiled library:
4 publishers, 6 subscribers allowed on the arduino after rebuilding the core library
Future Scope:
Improvement of IK Plugin