A Project report on

Simulation of Robotic Arm using ROS

and RViz
By
Samina Dohadwala – 22110159
Samradhny Sonawane – 22110157
Siddhesh Zende- 22110692
Onkar Yannawar – 22110851

Guide
Dr. Atul Kulkarni

Department of Mechanical Engineering

Vishwakarma Institute of Information Technology, Pune

 Simula on of Robo c Arm using ROS and RViz

ABSTRACT

This research project delves into the simulation of a robotic arm by leveraging the capabilities
of the Robot Operating System (ROS) within the Ubuntu platform. The primary objective is
to harness the power of ROS, a flexible framework that facilitates the seamless integration
and communication of diverse software components. This integration, occurring within a
meticulously structured environment, is pivotal for constructing intricate robotic systems.

The system employs sophisticated algorithms to meticulously process and interpret Python
scripts, subsequently translating them into executable commands for the robotic arm. This
advanced functionality is integral to enhancing the overall efficiency and responsiveness of
the robotic arm, thereby elevating its usability in diverse applications. The synergy between
ROS and Ubuntu serves as a robust foundation for the development and optimization of the
control mechanisms governing the robotic arm.

The overarching goal of this integration is to revolutionize human-robot interaction by

establishing an intuitive, user-friendly control mechanism. By employing ROS on the Ubuntu
platform, the project aims to create a conducive environment where human operators can
seamlessly communicate with and control the robotic arm. This not only streamlines complex
tasks but also opens avenues for widespread adoption of robotic technologies in various
industries.

The research explores the symbiotic relationship between software components, advanced
algorithms, and the ROS framework, shedding light on how these elements converge to
create a sophisticated simulation of a robotic arm. The findings contribute to the broader field
of robotics, emphasizing the significance of efficient human-robot interaction mechanisms
for the continued advancement of automation technologies.

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 Simula on of Robo c Arm using ROS and RViz

TABLE OF CONTENTS

Abstract

Table of Contents

1. Introduction
2. Literature Review
3. Methodology
3.1 Environment Setup
3.2 Speech Recognition Integration
3.3 Launching RViz Simulation
3.4 Robotic Arm Motion Control
4. Applications

Results

Conclusions

References

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 Simula on of Robo c Arm using ROS and RViz

1. INTRODUCTION

The field of robotics is constantly evolving, and the simulation of robotic arms has become a
crucial element that drives progress in research, development, and practical applications.
Sophisticated simulation tools have emerged as a transformative approach, enabling
researchers and engineers to model and analyze the behavior of robotic arms in virtual
environments. This paper explores the simulation of robotic arms, utilizing the capabilities of
the Robot Operating System (ROS) and the Robot Visualization (RViz) tool.

Simulating robotic arms plays a crucial role in the advancement of robotics for multiple
reasons. Firstly, it provides a powerful method to test, validate, and optimize the behavior of
robotic arms before real-world deployment. This ability significantly reduces the risks and
uncertainties associated with implementing robotic systems, as it offers a controlled and
iterative environment for adjusting various parameters.

The integration of the Robot Operating System (ROS) and the Robot Visualization (RViz) tool
together enhances the simulation capabilities. ROS is known for its flexibility and modularity,
providing a comprehensive framework for developing robotic systems. It can seamlessly
handle communication between various components, allowing easy integration of sensors,
actuators, and control algorithms. RViz, as a visualization tool within the ROS ecosystem,
allows users to easily visualize the simulated robotic arm and monitor its movements and
interactions with the environment in an intuitive way.

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 Simula on of Robo c Arm using ROS and RViz

2. LITERATURE REVIEW

Over the last few years, there has been a significant increase in the interest and development
of robotics, fueled by the progress in simulation technologies. The simulation of robotic arms
using a Robot Operating System (ROS) and Robot Visualization (RViz) has become a
significant area of research, providing a virtual environment to test and optimize various
aspects of robotic arm behaviour. This literature review aims to give an overview of key studies
and contributions in this area.

Simulation frameworks are crucial for advancing robotic research, as numerous studies have
shown. Koenig and Howard's work in 2004 on Player and Stage, a widely used robot and sensor
simulation platform, emphasized the significance of simulations in testing algorithms and
strategies before physical implementation. Quigley et al. introduced ROS in 2009, which builds
upon this idea and provides a comprehensive middleware for developing robotic systems,
including simulation capabilities that are essential for prototyping and validation.

ROS has played a crucial role in simulating robotic systems. According to Vaskevicius et al.
(2014), ROS-based simulations are highly modular and come with an extensive library of
packages. The adaptability of ROS enables seamless integration of sensors, actuators, and
control algorithms, allowing researchers to create realistic simulations for a wide range of
robotic applications.

RViz is a vital part of the ROS ecosystem and is famous for its visualization capabilities. In a
study conducted by Díaz-Martín et al. in 2018, RViz was explored for its real-time visualization
of robotic systems, highlighting its significance in improving situational awareness during
simulations. By monitoring and analyzing the movement and interactions of a simulated robotic
arm, RViz contributes to a deeper understanding of its behavior.

In recent years, researchers have been studying the development of control strategies in
simulated environments. In one study, Howard et al. (2006) explored the use of reinforcement
learning in simulated robotic environments and demonstrated the potential for iterative testing
and refinement. ROS's flexibility enables the implementation and assessment of various control
algorithms, paving the way for more reliable and efficient robotic arm behavior.

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 Simula on of Robo c Arm using ROS and RViz

The use of simulation tools has been crucial in improving the design and functionality of
robotic arms. In their work, Liu et al. (2017) concentrate on the use of simulations to enhance
the kinematics and dynamics of a robotic arm. Virtual prototyping and testing of various
configurations enable faster design iterations, resulting in more efficient and dependable
robotic systems.
Ensuring safety is of utmost importance when implementing robotic systems. To evaluate
safety measures, simulations offer a controlled environment. The research conducted by Wang
et al. (2020) delves into the assessment of safety in collaborative robotic applications through
simulation. Identifying potential risks and improving safety protocols within a simulated space
can lead to the creation of safer robotic systems.

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 Simula on of Robo c Arm using ROS and RViz

3. METHODOLOGY

This research is based on the integration of cutting-edge technologies, which requires a

thorough and methodical step-by-step setup of the development environment. To build a solid
foundation for voice control on a robotic arm simulation, the following actions were taken.

3.1 Environment Setup

ROS2: The project harnessed the capabilities of ROS2, specifically version Humble
Hawksbill. This version was chosen for its advancements in communication protocols, real-
time capabilities, and overall improvements in comparison to its predecessor.

Rviz: As a critical component of the project, RViz2, the visualization tool in ROS2, was
employed for its enhanced features and compatibility with the chosen ROS2 version.

Python: The scripting language of choice for this endeavor was Python, and its compatible
version, Python3, aligns with contemporary programming practices.

3.2 Speech Recognition Integration

3.2.1 Module Selection and Integration: As part of the project, we employed the
Speech Recognition module available in Python programming language. This module offered
the essential tools required to capture and process voice inputs accurately. By doing so, it
acted as a vital intermediary, enabling seamless communication between human verbal
commands and computer-generated instructions

3.2.2 Google Assistant API: The project aimed to enhance the precision and
dependability of speech-to-text conversion. To achieve this, it integrated the Google Assistant
API, which is renowned for its advanced natural language processing capabilities. By
leveraging this API, the project was able to significantly improve the accuracy of voice
command interpretation, resulting in a seamless and efficient user experience.

3.2.3 Trigger Word Implementation: The robotic arm simulation is designed to

respond to specific trigger words such as "launch" and "move" by performing corresponding

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 Simula on of Robo c Arm using ROS and RViz

actions. These trigger words act as catalysts to set in motion the precise movements of the
robotic arm, enabling it to carry out the desired tasks with accuracy and precision.

3.3 Launching Rviz Simulation

The successful implementation of the RViz simulation within the ROS2 framework was a
key element of the project. It allowed for a comprehensive visualization of the system and
facilitated the seamless integration between the voice control script and the RViz simulation
environment. This integration was a vital undertaking, ensuring that the simulation
environment accurately reflected the actions taken through voice commands.

3.4 Robotic Arm Motion Control

The success of the project's motion control aspect hinged on the implementation of the MoveIt
framework. This framework, developed using Python, provided a powerful and adaptable
foundation for orchestrating precise and coordinated movements of the robotic arm. The
scripting capabilities of Python allowed for a flexible and intuitive approach to defining motion
sequences, enabling the team to create complex and dynamic movements for the robotic arm.
By providing coordinates or parameters within the Python script, the team could dictate the
exact motions the robotic arm should perform.
The team used voice commands captured through speech recognition to influence these
parameters, allowing for a more intuitive and natural control of the robotic arm's movements.
This approach resulted in a more efficient and streamlined process, as the team could easily
adjust the robotic arm's movements without having to manually code each movement sequence.
Overall, the MoveIt framework and Python scripting capabilities proved crucial in creating a
successful and precise motion control system for the robotic arm.

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Simula on of Robo c Arm using ROS and RViz

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4. APPLICATIONS

4.1 Manufacturing and Assembly:

Robotic arms have become an integral part of manufacturing and assembly lines, performing
tasks ranging from picking and placing components to welding and assembling products. The
development and testing of control strategies for precise and efficient manufacturing processes
are made possible with ROS and RViz.
4.2 Material Handling and Logistics:
Robotic arms equipped with sensors can be used for material handling and logistics tasks in
warehouses and distribution centers. With the help of ROS, navigation and mapping
capabilities can be integrated into the robotic arm, allowing it to navigate and manipulate
objects in dynamic environments.
4.3 Medical Surgery and Rehabilitation:
In modern medicine, robotic arms have become a vital component in performing minimally
invasive surgeries and aiding in rehabilitation procedures. Cutting-edge technologies like ROS
and RViz have made it possible for researchers to simulate and fine-tune surgical procedures
to perfection. Moreover, developers can use these tools to create advanced interfaces for
teleoperation or robot-assisted rehabilitation devices, which provide patients with precise and
effective treatments.
4.4 Space Exploration:
Space exploration refers to the investigation and discovery of outer space beyond planet Earth.
It involves the use of spacecraft, satellites, and other advanced technologies to gather
information and data about the universe. The aim of space exploration is to expand our
knowledge of the universe and potentially discover new resources and habitats for humans. It
also serves as a way to inspire people and advance scientific research and technology.
4.5 Education and Training:
Simulated robotic arms, when used with ROS and RViz, can be incredibly useful as educational
tools. They offer a hands-on learning experience to both students and professionals with an
interest in robotics. Users have the freedom to explore various control strategies and gain
valuable insights into the behaviour of robotic arms.
4.6 Automotive Industry:

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 Simula on of Robo c Arm using ROS and RViz

Robotic arms play a crucial role in the automotive manufacturing process. They perform tasks
such as welding, painting, and assembling vehicle components. Developers can use ROS and
RViz to simulate and optimize robotic arm movements in automotive production lines.
4.7 Agriculture:
Precision agriculture can benefit from the use of robotic arms for various tasks, including crop
harvesting, sorting, and precision spraying. The use of ROS and RViz allows for the simulation
of agricultural robotic systems, enabling testing and optimization of control algorithms in
different farming scenarios.
4.8 Research and Development:
ROS and RViz are widely used in the research and development of robotic systems. These
tools allow researchers to simulate different scenarios, test control algorithms, and create
prototypes of new robotic arm designs in a controlled virtual environment before deploying
them in the real world. This approach helps to reduce the cost of development and minimize
the risk of failure.
4.9 Entertainment and Creative Arts :
Robotic arms have diverse applications in the entertainment industry, such as for live
performances, interactive exhibits, and creative art installations. ROS and RViz are
programming and simulation tools that can be utilized to create expressive and artistic robotic
arm movements.

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 Simula on of Robo c Arm using ROS and RViz

RESULT

The implementation of our research project has culminated in a resounding success,

showcasing the seamless teleoperation of a robotic system through the robust integration
of the Robot Operating System (ROS). This accomplishment marks a significant stride in
enhancing user control and interaction with the robotic arm. The teleoperation functionality
enables users to effortlessly issue commands to the robotic system, dictating movements
such as forward progression, halting, clockwise rotation, and anticlockwise rotation.
These predefined control schemes, fundamental in the realm of robotics, establish an
intuitive interface for users to exert manual control over the intricate movements of the
robotic arm. The teleoperation feature not only simplifies the manipulation of the robot but
also expands its applicability across diverse tasks and industries. Users, even those without
extensive technical backgrounds, can easily communicate their desired actions to the
robotic system, fostering a user-friendly and accessible control mechanism.
Integral to the success of the teleoperation is the efficiency of the ROS framework in
translating user commands into precise and coordinated actuator actions. The framework
seamlessly bridges the gap between user intent and robotic execution, ensuring that the
robotic arm responds promptly and accurately to the issued instructions. This capability
highlights the adaptability and versatility of the ROS framework, reaffirming its position
as a cornerstone in the development of advanced robotic systems.
In conclusion, the results of our report demonstrate not only the technical prowess of
our implemented system but also its practical implications for real-world applications. The
successful teleoperation of the robotic system through ROS opens avenues for enhanced
human-robot collaboration, paving the way for increased adoption of robotic technologies
in sectors ranging from manufacturing to healthcare and beyond.

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 Simula on of Robo c Arm using ROS and RViz

CONCLUSION

The simulation of a robotic arm using ROS and RViz is a cutting-edge methodology that
has the potential to revolutionize the field of robotics. Our research has provided in-depth
insights into the behaviour of robotic arms, the efficacy of control strategies, and the
optimization of design using this simulation framework. By employing this systematic
approach, we have uncovered crucial information that can be applied across diverse industries,
making our findings significant for research, development, and practical applications.

ROS is a middleware that has been widely used to create a flexible and modular simulation
environment. This framework enables seamless communication between components,
allowing the integration of sensors, actuators, and advanced control algorithms. ROS'
versatility extends to its ability to adapt to different models of robotic arms, providing a
standardized platform for simulation studies.

RViz integration as a visualization tool within the ROS ecosystem has improved our
comprehension of the dynamics of the simulated robotic arm. RViz's real-time visualization
capabilities have been critical in monitoring and analyzing the complex movements and
interactions of the robotic arm. This visual feedback not only helps in debugging and refining
control strategies but also contributes to a more intuitive understanding of the simulated
scenarios.

We have evaluated control strategies, optimized design parameters, and assessed safety
measures by running various simulation scenarios. The simulation results provide a
comprehensive view of the robotic arm's performance under different conditions. These
findings contribute to the development of more robust and efficient robotic systems, paving the
way for advancements in automation, manufacturing, healthcare, and other industries.

Through the iterative refinement process, guided by simulation insights, it has become clear
that this methodology is crucial in a rapidly evolving technological landscape. The ability to
rapidly prototype, test, and iterate within a virtual environment accelerates the pace of
innovation. Furthermore, the simulation framework has demonstrated its potential as an
invaluable educational resource, fostering learning and experimentation within the robotics
community.

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 Simula on of Robo c Arm using ROS and RViz

With the constant evolution of technology, the simulation of robotic arms using ROS and
RViz demonstrates the power of combining the virtual and physical worlds. This research
serves as a basis for future studies, encouraging further exploration into simulation
methodologies, the integration of advanced sensors and actuators, and the application of
artificial intelligence to improve the behaviour of robotic arms.

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REFERENCES

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and 1Yamajin Tanimu.
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Generation by Barath Krishna G, Krithik Rajavelu, Dr. Bindu B, Harsha Gopinath
3. Kovalenko, V., Melnyk, A., & Ohiienko, I. (2018). "Adaptive Control System for the Mobile
Robot based on ROS Framework." 2018 9th IEEE International Conference on Intelligent Data
Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), 1,
467-470.
4. Programming Robots with ROS by Morgan Quigley, Brian Gerkey, William D. Smart
5. Keyboard-Based Control and Simulation of 6-DOF Robotic Arm Using ROS by Rajesh
Kannan Megalingam, Nigam Katta, Raviteja Geesala, Prasant Kumar Yadav, Ruthvik Chanda
Rangaiah
6. Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS by
Bowei Zhang, Pengcheng Liu
7. Silvia Tolu, Mauricio Vanegas, Jesus A. Garrido (2013). “Adaptive and Predictive Control
of a Simulated Robot Arm
8. Design and Simulation of Vision Based Robotic Arm using ROS by Vishwa Priya V,
Srinivasan V, Dakshineshkar N R, Thamesh N R, Sanjaya kumaran S, Vikram R
9. Y. Zhang, Z. Lu, C. Wang, C. Liu and Y. Wang, "Voice control dual arm robot based on
ROS system," 2018 IEEE International Conference on Intelligence and Safety for Robotics
(ISR), Shenyang, China, 2018, pp. 232-237, doi: 10.1109/IISR.2018.8535942.
10. Design and Development of an Online Robot Programming and Simulation Framework
using the Robot Operating System (ROS) by Ru Sern YEOH, Hwa Jen Yap, Chee Hau Tan.

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