Repo with the description package of the UMA arm

Install depencies

sudo apt install ros-<distro>-xacro
sudo apt install ros-<distro>-gazebo-ros-pkgs
sudo  apt install ros-<distro>-ros2-control ros-<distro>-ros2-controllers ros-<distro>-gazebo-ros2-control

To launch it:

Launch the model only

ros2 launch uma_arm_description uma_arm.launch.py 
ros2 run joint_state_publisher_gui joint_state_publisher_gui 
rviz2
ros2 launch gazebo_ros gazebo.launch.py 

Launch the model in Gazebo

ros2 launch uma_arm_description uma_arm_sim.launch.py 

Set "Joint Trajectory"

ros2 topic pub -1 /set_joint_trajectory trajectory_msgs/msg/JointTrajectory  '{header: {frame_id: world}, joint_names: [joint_1, joint_2], points: [  {positions: {0.8,0.6}} ]}'

Upgrade Gazebo to use ros2 control

Launch

ros2 launch uma_arm_description uma_arm.launch.py 
ros2 launch uma_arm_description uma_arm_sim.launch.py 
ros2 run controller_manager spawner.py effort_controller