ROS 2 Jazzy Six-Axis Robot Arm Course Project

This workspace implements a simplified six-axis robot arm inspired by the ch3/kinematics material in mhuasong/Basics-of-Robotics-Theory-and-Technology.

The project targets ROS 2 Jazzy on Ubuntu 24.04 with modern Gazebo (ros_gz) and ros2_control.

Packages

• robot_arm_description: Xacro/URDF model, RViz config, ros2_control tags.
• robot_arm_kinematics: Eigen-based FK, numerical IK, trajectory generation, and ROS 2 nodes.
• robot_arm_bringup: Gazebo world, controller configuration, launch files.

Build

colcon build --symlink-install
source install/setup.bash

Run Simulation

ros2 launch robot_arm_bringup sim.launch.py

In another terminal:

source install/setup.bash
ros2 run robot_arm_kinematics move_to_pose_demo

Run FK/IK Console Test

source install/setup.bash
ros2 run robot_arm_kinematics fk_ik_test

Main Topics

• Subscribe: /target_pose (geometry_msgs/msg/PoseStamped)
• Publish: /fk_pose (geometry_msgs/msg/PoseStamped)
• Publish: /ik_status (std_msgs/msg/String)
• Action client: /joint_trajectory_controller/follow_joint_trajectory