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Feetech Arm Control

This repository provides a ROS2 hardware interface, URDF model, and MoveIt configuration for controlling a 6-DoF robotic arm using Feetech motors. The 3D model is currently in beta and pending open-source release by Simple Automation.

Control Demo

Installation

  1. Clone the repository into your ROS2 workspace:

    cd ~/your_ros2_ws/src
git clone https://github.com/iltlo/feetech_arm_control.git

  2. Install dependencies:

    cd ~/your_ros2_ws/src/feetech_arm_control
git submodule update --init --recursive
pip install feetech-servo-sdk

  3. Build and source the workspace:

    colcon build && source ~/your_ros2_ws/install/setup.bash

Usage

MoveIt! Demo

To run the MoveIt 2 demo for End Effector drag-and-drop control:

ros2 launch moveit_6dof_arm demo.launch.py

To run with the actual hardware (Optional):

ros2 run arm_control hardware_interface

moveit-screenshot

Display in RViz

To display the robot model in RViz:

ros2 launch urdf_6dof_arm display.launch.py

rviz-screenshot

Development Environment

  • Ubuntu 22.04
  • ROS2 Humble