ROS-Workshop-2.0

Note: This repository is no longer being developed.

Official Repository for ROS-based Manipulator, implemented with ESP32

Prerequisites: ROS Kinetic, initialiased with a catkin_ws workspace; ESP-IDF v3.3

Run the following command for a quick install:

./install.sh

Steps:

1. Flash the code 'Server_with_Servo_Control' onto your ESP32; wait till it connects to the server

cd ~/esp/esp-idf/codes/Server_with_Servo_Control
make -j8 flash monitor

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

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

rosrun sra Publisher_ForwardKinematics.py

4. Start the ROS Subscriber by executing the relevant python script, which would then connect to the ESP32 via the server

rosrun sra SubscriberSocketTCP.py

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