🦾 3DOF Robotic Arm - ROS 2 Jazzy

A 3-DOF robotic manipulator simulation powered by ROS 2 Jazzy, ros2_control, and Gazebo Harmonic. This project demonstrates robotic arm control, kinematics, and motion planning.

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👨‍💻 Author & Maintainer

Tejas Murkute

• 🎓 M.Sc. Industry 4.0: Automation, Robotics & 3D Manufacturing - SRH Berlin
• 📧 herrtejasmurkute@gmail.com
• 💼 LinkedIn
• 🐙 GitHub

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📚 Acknowledgments

This project was developed while completing the Robotics and ROS 2 - Learn by Doing! Manipulators course by Antonio Brandi.

Original concepts and robot design from Arduino-Bot. This repository is my personal implementation adapted for ROS 2 Jazzy.

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✨ Features

Feature	Description
3-DOF Arm	Base rotation, shoulder, elbow + gripper
ROS 2 Jazzy	Ubuntu 24.04 compatible
ros2_control	Joint trajectory control
Gazebo Harmonic	Modern physics simulation
Gripper	Functional gripper with mimic joint

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🤖 Packages

roboticarm_jazzy_ws/
├── src/
│   ├── roboticarm_description/    # URDF, meshes, RViz config
│   ├── roboticarm_controller/     # ros2_control configuration
│   └── roboticarm_bringup/        # Launch files, world files
├── docs/images/
└── README.md

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🔧 Prerequisites

• Ubuntu 24.04 (Noble Numbat)
• ROS 2 Jazzy Jalisco
• Gazebo Harmonic

Install Dependencies

sudo apt update && sudo apt install -y \
    ros-jazzy-ros2-control \
    ros-jazzy-ros2-controllers \
    ros-jazzy-gz-ros2-control \
    ros-jazzy-ros-gz-sim \
    ros-jazzy-ros-gz-bridge \
    ros-jazzy-xacro \
    ros-jazzy-robot-state-publisher \
    ros-jazzy-joint-state-publisher-gui \
    ros-jazzy-controller-manager \
    ros-jazzy-joint-trajectory-controller \
    ros-jazzy-joint-state-broadcaster

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📥 Installation

# Create workspace
mkdir -p ~/roboticarm_jazzy_ws/src
cd ~/roboticarm_jazzy_ws/src

# Clone repository
git clone https://github.com/HerrTejas/roboticarm_ros2_jazzy.git .

# Copy mesh files (see Mesh Files section below)

# Build
cd ~/roboticarm_jazzy_ws
colcon build --symlink-install
source install/setup.bash

Mesh Files

The STL mesh files are required for visualization. Copy them to:

roboticarm_description/meshes/

Required files:

• basement.STL
• base_plate.STL
• forward_drive_arm.STL
• horizontal_arm.STL
• claw_support.STL
• left_finger.STL
• right_finger.STL

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🚀 Usage

RViz Visualization Only (Test first!)

source ~/roboticarm_jazzy_ws/install/setup.bash
ros2 launch roboticarm_description display.launch.py

Use the Joint State Publisher GUI sliders to move the arm.

Gazebo Simulation

ros2 launch roboticarm_bringup gazebo.launch.py

Full Simulation (Gazebo + RViz)

ros2 launch roboticarm_bringup simulated_robot.launch.py

Control the Arm

# Move arm joints
ros2 topic pub /arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory \
"{joint_names: ['joint_1', 'joint_2', 'joint_3'], \
points: [{positions: [0.5, 0.3, -0.2], time_from_start: {sec: 2}}]}"

# Open gripper
ros2 topic pub /gripper_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory \
"{joint_names: ['joint_4'], points: [{positions: [-0.7], time_from_start: {sec: 1}}]}"

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🎓 What I Learned

• ✅ URDF/Xacro robot modeling with mesh files
• ✅ ROS 2 coordinate frames and TF tree
• ✅ ros2_control hardware interfaces
• ✅ Gazebo Harmonic simulation
• ✅ Joint trajectory controllers
• ✅ Launch file architecture

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📄 License

Apache License 2.0 - Based on work by Antonio Brandi

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Built with ❤️ while learning ROS 2 Robotics