Installations

NOTE: link for each topics are added as hyperlink in the points for detailed reference.

Containing all packages of moveit which are binary built and ready for direct deployement.

sudo apt install ros-humble-moveit

A package which helps to publish joint states to a topic, making all other dependent node to know about the state of each joints.

sudo apt install ros-humble-joint-state-publisher

A controller which helps to send trajectory messages to robotic arm. The message has all specifications of joint angle values, velocity and effort variables

sudo apt install ros-humble-joint-trajectory-controller

Package which helps to servo the arm using linear velocity input format of link OR actuating all joint angles.

sudo apt install ros-humble-moveit-servo

5. Trimesh

Python package for importing mesh file in rviz, so that the arm understands about the envirnomental collision in its planning scene.

pip install trimesh

Ros 2 control CLI package helps to access each controller in terminal in a same way as we access ros2 topic.

sudo apt install ros-humble-ros2controlcli