orm-ros

ROS Package for ORM-1 Open Robotic Manipulator

This project is a clone of the repository:

https://github.com/jasonhillier/we_r2_moveit_config

With the model updated to match the kinematics of ORM-1 Open Robotic Manipulator:

https://www.telemetrybalkan.com/orm-1-2/

Prerequisites

• ROS Noetic http://wiki.ros.org/noetic
• MoveIt https://moveit.ros.org/install/

Launch

• create a catkin workspace: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
• Next, git clone this repository in the workspace/src directory
• Run catkin_make
• Launch the demo: roslaunch we_r2_moveit_config demo.launch

ORM-1 Hardware & Library

In order to apply the elaborated joint angles to the real hardware - install and launch the python ORM-1 Library:

https://github.com/sergei-nntu/orm/

the Arduino firmware and STL files for mechanics are available there as well