PAROL6-ROS2-MOVEIT

This repository provides ROS 2 MoveIt 2 integration for the PAROL6 6-DOF open-source robotic arm. It includes a simulation demo, URDF models, and launch files for testing and planning.

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🛠️ Installation & Setup

Tested on:

• Ubuntu 22.04
• ROS 2 Humble

1. Install ROS 2 Humble and MoveIt 2

You can follow this guide or install via APT:

sudo apt update
sudo apt install ros-humble-desktop ros-humble-moveit

1. Create and build a workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/your_username/PAROL6-ROS2-MOVEIT.git 
## OR Copy this repo manually to ros2_ws/src
cd ~/ros2_ws
colcon build

1. Source the environment

colcon build
source /opt/ros/humble/setup.bash
source install/setup.bash

🚀 Run the Simulation

LC_NUMERIC=en_US.UTF-8 ros2 launch parol6_moveit demo.launch.py

🤖 Run Against Real Hardware

real_robot.launch.py brings up the same MoveIt 2 stack as the demo above, but backed by ros2_control talking to an actual (or software-simulated) PAROL6 instead of mock_components/GenericSystem.

The ros2_control hardware interface itself (parol6_hardware_interface) and the TCP/UDP bridge daemon it talks to (parol6_bridge) live in a separate repo, parol6_ros2_control — standard ROS 2 practice is to keep a robot's ros2_control hardware interface out of its MoveIt config package, so it can be reused by other launch files (e.g. a no-MoveIt bringup) without pulling MoveIt in. Clone it alongside this repo:

cd ~/ros2_ws/src
git clone https://github.com/grahas/parol6_ros2_control.git
cd ~/ros2_ws
colcon build

You'll also need parol6-server running and reachable (real serial port, or its PAROL6_FAKE_SERIAL=1 simulator mode) — real_robot.launch.py connects to it via parol6_bridge but does not start it itself:

ros2 launch parol6_moveit real_robot.launch.py \
    bridge_python:=/path/to/venv/bin/python3   # must have the `parol6` pip package installed

See parol6_ros2_control's README for the full ros2_control-side setup and known environment gotchas.

📚 Helpful Resources

• Link1
• Link2

🛠️ Troubleshoot

Fix common MoveIt 2 issues :

sudo apt install --reinstall ros-humble-geometric-shapes

MoveIt Setup Assistant (Optional):

ros2 run moveit_setup_assistant moveit_setup_assistant
ros2 launch moveit_robot_arm_sim demo.launch.py

⚠️ Note: All URDF/XACRO names must be lowercase to avoid issues! ⚠️ Note: - Common_errors

✅ TODO

• Connect with real PAROL6 robot
• Move PAROL6