Robot Arm Visualizer

A ROS2-based GUI application for visualizing and controlling a robotic arm in real time using Tkinter and Matplotlib.

Features

• Real-time Joint Angle Visualization: Updates in response to ROS2 messages.
• 3D Visualization: Displays the robot arm's movement in 3D using Matplotlib.
• GUI-based Control: Adjustable sliders to manually control joint angles.
• ROS2 Integration: Subscribes and publishes to the /joint_angles topic for synchronization.

Prerequisites

• ROS2 Humble installed
• Python 3.x
• Required dependencies:

  pip install numpy matplotlib rclpy tkinter

Installation & Usage

Clone the Repository

git clone https://github.com/WakifRajin/robot-arm-visualizer.git
cd robot-arm-visualizer

Build and Source the ROS2 Workspace

cd ~/ros2_2025/
colcon build
source install/setup.bash

Run the Visualizer Nodes

Start the Joint Angle GUI

ros2 run arm_visualizer joint_visualizer

Start the 3D Visualizer

ros2 run arm_visualizer arm_3d_visualizer

Topics

Topic Name	Type	Description
/joint_angles	std_msgs/Float32MultiArray	Publishes/subscribes joint angles

Contributing

Feel free to open issues or submit pull requests to enhance the project.

License

This project is licensed under the MIT License. See LICENSE for details.

Author

Developed by Wakif Rajin.