RViz

MoveIt 2 on a Real Robot Arm: ros2_control, Inverse Kinematics and a URDF That Matches the Hardware (OmArm One Part 3)

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The real OmArm One and its RViz model in the same pose, with the interactive marker on the gripper

MoveIt 2 on a real robot arm with ROS 2 Jazzy: audit the CAD export against the built arm, set up ros2_control, derive the inverse kinematics, build the MoveIt package with the Setup Assistant and drive an ESP32 arm over one USB cable.

From Fusion 360 to a ROS 2 Digital Twin: URDF, RViz and Gazebo That Match the Real Arm (OmArm One Part 2)

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The real 3D printed OmArm One robot arm on a workbench beside the same arm rendered in RViz, both in the same pose

Export a URDF from Fusion 360, audit it, correct joint directions, zeros and limits so the model matches the real OmArm One, and run it in RViz and Gazebo Harmonic. Part 2 of the OmArm One series, for ROS 2 Jazzy.