Announcing New ROS 2 Driver for the AR4 robot arm

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Hi ROS community,

I’ve been working on a ROS 2 driver for the AR4 robot arm and I’m glad to announce it’s mostly feature complete and ready to use! It uses ros2_control for robot control, and comes with MoveIt 2 and Rviz2 integrations.

For those of you who don’t know, AR4 is a low-cost robot arm that has a max payload of 1.9kg and 63cm reach, which makes it great for light-duty practical tasks.

Repo: GitHub - ycheng517/ar4_ros_driver: Core software with ROS and MoveIt for the AR3 robotic arm
AR4 robot: https://www.anninrobotics.com

I eagerly await your feedback and suggestions as I continue to refine and improve this driver.

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I might be using this soon, I’ll keep you updated

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I wished for the right thing this time. I feel so lucky, thank you.

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Thank you ycheng517 for all the effort you have placed in making the AR4 ROS 2 implementation. I have successfully used the packages you built for my AR4 arm. The only piece that is not working for me is the ar4_hand_eye_calibration package. When I run that package I can successfully gather the calibration data for the camera and I can run the validate script, but my robot will not yet track my arcu marker. The topic is publishing its location but something is wrong with my moveit_py package. I will figure it out, but thought you might like to know someone out there has successfully implemented your work. Thank you again for sharing it.