Week 9: Struggling to Move the Robot with ROS 2

Trying to Move the Franka Arm

This week, I focused on trying to get my code to move the robot and connect it to ROS 2. I used a computer that was already connecting to the robot and worked on refining my code. My main goal was to load the joint_trajectory_controller and configure it properly.

Learning ROS 2 Components

Throughout the week, I spent a significant amount of time learning more about how ROS 2 loads components and how to work with Xacro, URDF, and YAML files. I tried multiple configurations and methods to get the arm moving, but ran into difficulties due to the fact that the system was set up to only receive and save data from the Franka Research 3 rather than to move it.

Challenges and Reflections

Despite trying everything I could think of, I wasn’t able to get the arm to move. The process was a steep learning curve, especially as I’m still a novice in the world of robotics. I now realize I need more time and experience to successfully implement these types of robotic control systems.

Stay tuned for more updates!