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, please follow their progress on X!

✨ Features

• Udev Rules for Serial Communication
  • Provides consistent device names.
• MoveIt 2 Integration
  • Supports intuitive end-effector control in RViz.
  • Includes a GUI for setting goal poses (XYZ & RPY).
• Simulation & Hardware Compatibility
  • Works in both RViz simulation and real-world hardware.
  • Publishes actual joint state feedback to a ROS topic.
• Robot Description & Configuration (Git Submodule)
  • Uses URDF/XACRO for robot modeling.
  • Includes SRDF for MoveIt 2 configuration.
  • Defines joint limits, collision models, and kinematics.
• TODO
  • Display actual joint state feedback in RViz.
  • Implement or integrate an IK solver.

🚀 Installation

1️⃣ Clone the repository into your ROS2 workspace:

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

2️⃣ Install dependencies:

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

3️⃣ Set Up Udev Rules (Mandatory for Serial Communication)

To ensure consistent device naming and prevent permission issues, the Feetech Arm requires a udev rule.

📌 Steps to Install Udev Rules

1. Run the setup script:

    cd ~/your_ros2_ws/src/feetech_arm_control/scripts
    chmod +x setup_udev.sh
    sudo ./setup_udev.sh
    

1. Unplug and replug the USB cable to apply the changes.
2. Verify the device is detected:

    ls -l /dev/ttyARM*
    

You should see something like:

    lrwxrwxrwx 1 root root 7 Feb 14 00:48 /dev/ttyARM0 -> ttyACM0
    lrwxrwxrwx 1 root root 7 Feb 14 00:52 /dev/ttyARM1 -> ttyACM1
    

4️⃣ 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 arm_moveit_config feetech_moveit.launch.py

To use a Qt5 GUI for controlling the arm pose:

ros2 launch arm_controller ee_goal_control.launch.py

To run with the actual hardware (Optional):

ros2 run arm_hardware_interface hardware_interface

🔹 Display in RViz

To display the robot model in RViz:

ros2 launch arm_description display.launch.py

🛠 Development Environment

• Ubuntu 22.04
• ROS2 Humble