Development and Simulation of a Robotic Arm Using ROS2: A Comprehensive Study

This research focuses on the development and implementation of a physical robotic arm controlled using ROS2 and powered by an Arduino microcontroller. The project integrates advanced robotic software tools such as URDF for modeling, RViz2 for visualization, and MoveIt2 for motion planning, enabling efficient control of the robotic arm. A serial communication interface is established between a laptop and the Arduino to calculate and transmit joint angles for real-time actuation. The study explores the challenges of transitioning from simulation to physical implementation, including hardware limitations and communication latency. The results demonstrate the successful application of ROS2 for controlling a physical robotic system, with potential implications for robotics education, research, and industrial automation. This work serves as a foundation for future developments, such as incorporating sensor feedback and autonomous capabilities.