abulhasnatabdullah/arm_visualizer repository overview

⁠Robot Arm Visualizer

A ROS2-based GUI application for visualizing and controlling a robotic arm in real time using Tkinter and Matplotlib.

⁠Features

• Real-time Joint Angle Visualization: Updates in response to ROS2 messages.
• 3D Visualization: Displays the robot arm's movement in 3D using Matplotlib.
• GUI-based Control: Adjustable sliders to manually control joint angles.
• ROS2 Integration: Subscribes and publishes to the /joint_angles topic for synchronization.

⁠Prerequisites

• ROS2 Humble installed
• Python 3.x
• Required dependencies:

  pip install numpy matplotlib rclpy tkinter
  

  Copy

⁠Installation & Usage

⁠Clone the Repository

git clone https://github.com/abulhasnat-abdullah/robot_arm_visualizer.git
cd arm_visualizer

⁠Build and Source the ROS2 Workspace

cd ~/my_ws/
colcon build
source install/setup.bash

⁠Run the Visualizer Nodes

⁠Start the Joint Angle GUI

ros2 run arm_visualizer joint_visualizer

⁠Start the 3D Visualizer

ros2 run arm_visualizer arm_3d_visualizer

⁠🐳 Running with Docker

DockerHub : [https://hub.docker.com/repository/docker/abulhasnatabdullah/arm_visualizer⁠]

⁠Pull the Docker Image

docker pull abulhasnatabdullah/arm_visualizer

⁠Allow Docker to use your display

xhost +local:docker

⁠Run the Container

docker run -it \
  --env="DISPLAY=$DISPLAY" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
  abulhasnatabdullah/arm_visualizer

⁠Topics

⁠Contributing

Feel free to open issues or submit pull requests to enhance the project.

⁠License

This project is licensed under the MIT License. See LICENSE for details.

⁠Author

Developed by Abul Hasnat Abdullah⁠.