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Parol6 - ROS 2 and Moveit2! integration

This repository is intended to provide integration of ROS 2 and Moveit2! with open-source PAROL6 robot manipulator from Source robotics.

Run:

Run PAROL6 with following command:

ros 2 launch parol6_moveit2_config demo.launch.py

But first build and source.

Build package with:

colcon build --packages-select parol6_description parol6_moveit2_config

Source with:

source ~/<ros2_ws>/install/setup.bash

Potential problems:

Joint limits are wrong (didn't follow official documentation).

No end effector at this point and no root link, (maybe will require fix at some point)

capabilities bug from Moveit2! and ROS 2 humble, fixed as here.

TODO:

  • Convert URDF from the PAROL 6 to xacro
  • Convert URDF ROS 1 package to ROS 2
  • Create ros2 parol6_description repository
  • Convert STLs to DAE files
  • Create Moveit2! config package
  • Run Moveit2! demo for the Parol6
  • Check URDF used
  • Run in the simulation
  • Connect with the arm_api2