OmArm Zero: 6-DOF (5+1 Gripper) ROS 2 Robotic Arm – URDF, MoveIt 2, Computer Vision, Presentation & Tutorial Guide

Description

Complete ROS 2 Workspace for the OmArm Zero

Everything you need to simulate, control, and operate the OmArm Zero 6-DOF robotic arm with ROS 2 Jazzy. Download, extract, build — and you’re running.

What’s included

• omarm_zero_description — Full URDF/Xacro robot model, STL meshes, RViz and Gazebo launch files, ros2_control configs (Part 2)
• omarm_zero_moveit_config — MoveIt 2 setup: motion planning, collision checking, drag-and-drop control in RViz (Part 3)
• omarm_zero_gamepad_control — Gamepad teleoperation: map any USB/Bluetooth controller to joint commands (Part 3)
• omarm_zero_real_control — ESP32 WiFi hardware bridge: control real servos from ROS 2 (Part 4)
• Fusion 360 URDF Exporter — Python plugin to export your own robot from Fusion 360 to ROS 2
• PDF Guides — Step-by-step build guides for Parts 2, 3, and 4
• Presentation Slides — PPTX slides from the YouTube video series
• README — Quick-start: extract, colcon build, source, launch

Requirements

• Ubuntu 22.04
• ROS 2 Jazzy
• Gazebo Harmonic
• OmArm Zero hardware (for Part 4 — simulation works without it)

Quick Start

1. Download and extract the ZIP
2. cd ~/omarm_zero_ws && colcon build
3. source install/setup.bash
4. ros2 launch omarm_zero_description display.launch.py

License

ROS 2 source code: MIT License. Documentation and presentations: © 2026 OmArTronics, personal use only.

Need the hardware too? Check out Part 1: CAD Files, Firmware & Build Guide.