Overview
This started as dofarm, a ROS 2 package that describes a planar two-joint arm in URDF and brings it up in RViz2 and Gazebo with a single launch file. The camera arm builds on it by mounting a camera sensor on a dedicated link and streaming its view over ROS 2 topics.
It is the build where the full ROS 2 stack came together at once: robot description, physics simulation, topic bridging, state publishing and live visualisation.
How it works
Describe
A URDF/Xacro model defines two revolute joints, the link geometry and a camera link with its sensor plugin.
Command
A Python node publishes joint position commands that walk the arm around a square trajectory.
Simulate
Gazebo Fortress handles the physics and renders the camera, and ros_gz_bridge carries the image stream into ROS 2.
Visualise
robot_state_publisher and joint_state_publisher feed /joint_states and /tf to RViz2, which shows the pose and the camera image live.
What's next
- Sensor fusion and closed-loop feedback from the camera