OmArm Zero: ROS 2 Workspace for the 6-DOF (5+1 Gripper) Arm – URDF, MoveIt 2, Computer Vision, PDF Guides & Slides (Parts 2-4)

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 package (bonus, not covered in the guides)
• omarm_zero_real_control — ESP32 hardware bridge (serial or WiFi): control real servos from ROS 2 (Part 3)
• computer_vision_aruco — Camera calibration and ArUco marker detection for vision-guided pick and place (Part 4)
• Fusion 360 URDF exporter — link and step-by-step setup in the Part 2 guide, 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
• Printables — ArUco marker sheet and calibration chessboard (Part 4)
• README — Quick-start: extract, colcon build, source, launch

Requirements

• Ubuntu 24.04
• ROS 2 Jazzy
• Gazebo Harmonic
• OmArm Zero hardware only for the real-arm sections of Parts 3 and 4 (the simulation runs without it)

Quick Start

1. Download and extract the ZIP
2. cd ~/omarm_zero_ws && rosdep install --from-paths src --ignore-src -r -y && colcon build
3. source install/setup.bash
4. ros2 launch omarm_zero_description display.launch.py

License

ROS 2 source code and firmware: MIT License. Wiring diagrams: CC BY-SA 3.0 (Fritzing part graphics). Documentation, meshes and presentations: © 2026 OmArTronics, personal use only.

The ESP32 firmware for ROS 2 (serial bridge) and the wiring files are included in this package under src/firmware and src/electronics.

Need the printed parts? They are in Part 1: CAD Files, Firmware & Build Guide.