Instructions | An Arduino Arm for ROS, wait a medical usage.

1

Build the arm by servos and Legos.

Print some shapes to connect Lego and servos.

connect servo parts to build a sample 3DoF robot arm.

Extend it to a 7DoF robot arm.
2

Prepare an Arduino board and PCA9685 to drive servos

Connect the robot arm servos and Arduino via PCA9685 which need an independent 6V power.

Check Arduino pin A4 -> PCA9685 SDA , pin A5->PCA9685 SLC. GRD -> GRD, 5V->5V
3

Set up a URDF model of the arm in your computer

Prepare an Ubuntu Linux virtual machine and install ROS.

Install URDF plugin to Solidworks.
Build a robot arm in Solidworks and Export to a URDF file.
Set up every link
Press button "Preview and Export" to generate joint configurations.
Save the project and copy the file folder to Linux ROS catkin workspace.
Check the folder as a ROS package.
roslaunch urdf_tutorial display.launch model:=<the robot arm filename>.urdf
move the model by joint_state_publisher
It works.
So, extend it to a 7DoF robot arm model.
4
Config a moveit node for the arm to feature motion-planning ability
The following instruction references http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html

(1)To start the MoveIt! Setup Assistant
```
roslaunch moveit_setup_assistant setup_assistant.launch
```