Manipulation · Open Source · 2026
3-DOF Robotic Arm Simulation with ROS 2 + Gazebo + Moveit
3-DOF(Degrees of Freedom) arm with MoveIt inverse kinematics — publish a target pose and the IK executor drives the arm to it.
ROS2 Humble · MoveIt · ros2_control · RoboticArm · Research
Overview
RobotArm is a 3-DOF robotic arm simulation built with ROS 2 Humble and Gazebo Ignition (GZ Sim). It includes:
- 3 revolute joints (joint_1, joint_2, joint_3) + 1 gripper joint (joint_4)
- ros2_control with JointTrajectoryController for position control
- Gazebo Ignition simulation with physics
- MoveIt 2 integration with OMPL planning (controlled via RViz)
- Joystick control (PS4 / Xbox / generic gamepad)
- Keyboard control (raw terminal input, WASD-style)
- Modular bringup package (robotarm_bringup)