MicroROS Based Controller and RViz Visualization for Robot Manipulation as an Educational Module

Abstract

The increasing adoption of ROS-based control systems across diverse industries can be attributed to its mid-dleware functionalities and open-source accessibility, prompting educational institutions to integrate comprehensive robot programming courses into their curricula. The students lack the necessary programming skills but there are plenty of tools such as MOOL (Massive Open Online Laboratories) and MOOC (Massive Open Online Courses) available which can support this. They still lack traditional hands-on learning experience which has proven to improve the pedagogical approach to teaching and learning. Programming with embedded systems has always piqued the interest of students to develop their hands-on skills and the learning experience. On the other hand, the embedded systems are cost-effective and highly energy efficient making it an affordable option to control most electrical and electronic devices. Since embedded systems are seeing rapid integration in industries, and ROS-based support to control the embedded systems, microROS (micro Robot Operating System) was introduced. This paper focuses on controlling a 4 DOF (Degree Of Freedom) self-made robotic arm using the microROS framework of ROS2, visualization performed through RViz and motion planning performed using the MoveIt framework. Overall this paper discusses various educational advantages and the control engineering aspects devised as an education module.