During my industrial internship in summer of 2016 at TAL Manufacturing Sol. Ltd., I was given the task to control a 5 degrees of freedom industrial arm using Robot Operating System (ROS). This being my first time using ROS, I started out by learning ROS.

I programmed an ARM-based microcontroller such that it can command hardware of the 5 DOF arm. Then, I developed a ROS package for wireless communication between the microcontroller and a PC. For Cartesian and individual joint control of the robot in Gazebo environment as well as of the real robot, I created ROS and MoveIt! controllers that generated commands for the micro-controller. Moreover, in order to control the arm, I designed an user-friendly graphical UI and provided a visualization in ROS visualization tool (Rviz).