ROS-Workshop-2.1

Official Repository for ROS-based Manipulator, implemented with ESP32

Prerequisites: ROS Kinetic, initialiased with a catkin_ws workspace; ESP-IDF v4.1

Run the following command for a quick install:

./install_codes.sh

Steps

• Configure the code ros_control/

cd esp32_codes/ros_control/
idf.py menuconfig

• Inside component config > rosserial, Set Wifi ssid and password, Set the IP address (can be found by ifconfig command)

• Flash the code ros_control/

idf.py flash

• Start the ROS Core service i.e. the ROS Master by the roscore command.

• Start the ROS Publisher by executing the relevant python script: (e.g. angle -> coordinates)

rosrun sra20 publisher_forward_kinematics.py

• Start the ROS Subscriber by executing

rosrun rosserial_python serial_node.py tcp

• Enter the angles on the publisher side and voila! See your manipulator moving!

Resources

Follow this link for all the reference material related to the workshop.