5DoF Robot Arm with ROS MoveIt using SolidWorks

This GitHub repository, 5DoF_robot_arm_with_ROS_MOVEIT, showcases the design and implementation of a 5 Degrees of Freedom (5DoF) robot arm using SolidWorks. The project includes the conversion of the mechanism to URDF format and integration with ROS MoveIt for motion planning.

Repository Structure:

1. serial_robot_5axis

• URDF Folder: Contains a file named midterm.urdf that encapsulates all materials required for visualization in RViz and simulation in Gazebo.
• Launch Folder: Contains two files - midterm_rviz for running RViz and midterm_gazebo for running Gazebo.
• YAML Folder: Includes a file named controllers.yaml responsible for joint control.

2. prrrrr_moveit_config

• This folder is dedicated to motion planning with MoveIt, providing a comprehensive configuration for planning and executing trajectories.

3. solid_parts

• Houses the SolidWorks parts used in designing the robot arm.

4. Capture.JPG

• A snapshot of the robot arm design.

5. demonstration.mp4

• A video demonstration showcasing the robot arm in action.

6. steps_to_follow_file_launching.pdf

• Detailed instructions on running the code and launching the robot manipulator in ROS with RViz, Gazebo, and MoveIt.

How to Run:

1. Clone the repository.
2. Navigate to the serial_robot_5axis folder.
3. Execute the launch files: midterm_rviz for RViz and midterm_gazebo for Gazebo.
4. Explore motion planning using MoveIt through the prrrrr_moveit_config folder.
5. Refer to steps_to_follow_file_launching.pdf for a comprehensive guide.