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Starai Arm Manipulator - ROS2 MoveIt Guide

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
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