Skip to main content

Starai Arm Manipulator - ROS2 MoveIt Guide

Follower ViolaLeader ViolinFollower Cello
fig1fig2fig3
Get One Now!!! 🖱️

Product Introduction​

  1. Open-Source & Easy for Secondary Development This series of servo motors, provided by Fashion Star Robotics, offers an open-source, easily customizable 6+1 degrees of freedom robotic arm solution.

  2. Dual-Arm Systems with Various Payloads The Violin serves as the leader robotic arm. When at 70% of its arm span, the follower arm Viola has an operating payload of 300g, while the follower arm Cello has an operating payload of 750g.

  3. Supported ROS2, Moveit2 and Isaac Sim It supports ROS2 for publishing and subscribing to robotic arm data topics and controlling the robotic arm, and also supports MoveIt2 for inverse kinematics calculation, as well as simulation in Isaac Sim.

  4. LeRobot Platform Integration Support It's specifically designed for integration with the LeRobot platform. This platform provides PyTorch models, datasets, and tools for imitation learning in real-world robotics tasks, including data collection, simulation, training, and deployment.

  5. Open-Source SDK Supports Python and C++ SDK Development

  6. Button Hover Simulates gravity compensation, allowing the robotic arm to hover at any position via a button.

  7. Modular End Effector Enables quick DIY replacement.

  8. Abundant Learning Resources We offer comprehensive open-source learning resources, including environment setup, installation and debugging guides, and custom grasping task examples to help users quickly get started and develop robotic applications.

  9. Nvidia Platform Compatibility Deployment is supported via the Nvidia Jetson platform.

Specifications​

ItemFollower Arm | ViolaLeder Arm |ViolinFollower Arm |Cello
Degrees of Freedom6+16+16+1
Reach470mm470mm670mm
Span940mm940mm1340mm
Repeatability2mm-1mm
Working Payload300g (with 70% Reach)-750g (with 70% Reach)
ServosRX8-U50H-M x2
RA8-U25H-M x4
RA8-U26H-M x1		RX8-U50H-M x2
RA8-U25H-M x4
RA8-U26H-M x1		RX18-U100H-M x3
RX8-U50H-M x3
RX8-U51H-M x1
Parallel Gripper Ki✅-✅
Wrist RotateYesYesYes
Hold at any PositionYesYes (with handle button)Yes
Wrist Camera MountProvides reference 3D printing filesProvides reference 3D printing files
Works with LeRobot✅✅✅
Works with ROS 2✅✅✅
Works with MoveIt2✅✅✅
Works with Gazebo✅✅✅
Communication HubUC-01UC-01UC-01
Power Supply12V10A/120w XT3012V10A/120w XT3012V25A/300w XT60

For more information about servo motors, please visit the following link.

RA8-U25H-M

RX18-U100H-M

RX8-U50H-M

Dependent Environment​

No LSB modules are available.

Distributor ID: Ubuntu

Description: Ubuntu 22.04.5 LTS

Release: 22.04

Codename: Jammy

ROS2: Humble

Install ROS2 Humble​

ROS2 Humble Installation

Install Moveit2​

sudo apt install ros-humble-moveit*

Install Servo Motor's SDK​

sudo pip install pyserial
sudo pip install fashionstar-uart-sdk

Create a workspace and Initialization​

mkdir -p ~/starai_ws/src
cd ~/starai_ws
colcon build

Clone starai-arm-moveit2 Ros2's Package​

cd ~/starai_ws/src
git clone https://github.com/Welt-liu/starai-arm-moveit2.git
cd ~/starai_ws
colcon build
echo "source ~/starai_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Starai Arm MoveIt2 Simulation Script​

ros2 launch viola_configure demo.launch.py

Using a Real Robotic Arm​

Terminal 1: Start the Arm Control Node​

The Arm Will Move to The Zero Position.

ros2 run robo_driver driver

Start the Controller Node​

ros2 run viola_controller controller

Start the Moveit2​

ros2 launch viola_configure actual_robot_demo.launch.py

FAQ​

  • If you experience flickering in the RViz2 interface, try the following commands:

    export QT_AUTO_SCREEN_SCALE_FACTOR=0
Loading Comments...