URDF description of the robotic arm, mesh files and a launch file to visualize the arm in RVIZ

ros_control hardware interface for six motors, commanded via self defined messages. Launch file to launch everything needed to control the real arm, including a rosserial node, which communicates with an Arduino as interface to the motor hardware. The Arduino provides a Subscriber for the motor command topic and publishes the current motor states. The package also provides a configuration file for the controllers.

The template boilerplate code for the driver package can be found here. The whole code of the chopsticks_two_driver is derived from this package.

A simplified version of the boilerplat code from here. Still needed for the driver to run. Will be embedded in the driver in later versions.

MoveIt! configuration package created by the moveit_setup_assistant. Sets up everything regarding motion control of the robot.

No ROS package! The Arduino code, which provides the real control of the motor hardware.