To be done:
Hardware failures:
January 26, 2026
- Also checked the RoArm-M3 wiki, because that has a Basic Usage section, a Python demo and a number of control and ROS2 tutorials.
- The foam blocks are grasping targets.
- In the setup the camera's are mounted on the passive recording-arms, so 4 USB-cables (two to the arms, two to the camera's) go to the hub. No power supply for the hub:
- Connected one camera to one of the recording-arms. There were not enough screws and spacers, to connect both camera on 4-points. Lost two small screws on the floor.
- In the other connector-bag there was an USB-B to C converter. Put that in port 9. Didn't connect the USB-hub to my laptop or UGV-rover (yet).
- Connected to the access-point and did the WebCtrl-demo. All worked well, openened the gripper, switched on the LED. Only thing that didn´t go as expected was the XYZ-control. I only controlled the Z-axis, but in both directions the end-effector went down.
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- Checked the IMX355 USB-camera wiki.
- With input-connector up I see with lsusb connected to IN1/USB3. I also see two additional /dev/video* devices. With cheese --device=/dev/video5 I see the IMX355 camera.
- Tried to control the arm with serial_simple_ctrl.py. With sudo dmesg | tail I had seen cp210x converter now attached to ttyUSB0.
- Did python -m pip install serial, which installed serial-0.0.97.
- This sort of worked. I received the error-message: module 'serial' has no attribute 'Serial', which seems a version problem.
- Problem was that I installed serial instead of pyserial (see stackoverflow topic. Although I am part of the dailout group, /dev/ttyUSB0 gave a permission error. Did sudo chmod o+rw /dev/ttyUSB0, wich gave utf-8' codec can't decode byte 0xe0 in position 0: invalid continuation byte. Yet, a second time it worked and I received a lot feedback like:
Received: {"T":1051,"x":350.1528949,"y":-9.670758442,"z":198.1836835,"tit":0.081300982,"b":-0.027611654,"s":0.026077673,"e":1.61528177,"t":0.010737866,"r":0.004601942,"g":3.132388769,"tB":87,"tS":83,"tE":127,"tT":43,"tR":-20}.
- Could also control the robot via the http_simple_ctrl.py (opened and closed the gripper with json cmd: {"T":106,"cmd":3.14,"spd":0,"acc":0}
- More details about the JSON-commands in this tutorial and Robotic Arm Control tutorial (including inverse kinematics commands).
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- Next step would be to control with ROS2. The Workspace points to github ws.
- First command is given in the next ROS tutorial drive node, which gives ros2 run roarm_driver roarm_driver
January 23, 2026
January 4, 2026
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