Controlling a 6DOF Robot Arm with ros2_control
Moving and manipulating objects are one of the most common tasks in robotics. Examples include moving objects, folding clothes, or solving Rubik's cubes. Robots that perform these tasks are often called manipulators, and they tend to be arms with some kind of gripper on the end - in my experience, a pinch or suction gripper.
One method of controlling the movement of a robot arm to a given pose is using ros2_control. By using this framework, we can use existing robot controllers for moving motors, and we even gain access to advanced behaviour like incorporating feedback into a PID control loop to more accurately position our arm. This post is all about how to control a simulated robot arm with 6 joints, using the sample code from the ROS 2 Controller Examples.
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