arm_api2 - simple interface for robot manipulation

Hi everyone,

I’ve spent a lot of time learning ROS, MoveIt! and setting up different robot manipulators. In order to make it easier and faster, I’ve created simple arm_api2, which is a C++ wrapper for ROS2 and MoveIt2!

Currently, it supports:

  • joint trajectory control
  • catesian trajectory control
  • end effector servoing

Robot manipulators that are tested are (mostly in simulation)

  • UR
  • Franka Emika
  • Kinova

You can find repository here;

You can also tell us what arms should we support by filling out this short form.

Let us know which arm would you like to have next, and what functionalities are missing.

Let’s make using robot manipulators easy!

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