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1. Add the moveit arm package with the URDF and ROS2_control enabled to the repository.

2. Create a service server node for moving the arm from one pose to another. Launch file.

3. Create a node for controlling the arm via the Xbox controller; aka create a ROS2 node to pipe data from the joystick over to ros2_control. Launch file. GitHub issue

   1. The first part of this task is to boot the arm in Gazebo and check out what topics ros2_control exposes for it. You can use rqt or ros2 topic list for this; you’re looking for something like a /cmd_vel or /position_commands to figure out what you need to publish to in order to get the drivetrain to move.

   2. Then, you’ll set up a node that subscribes from the Xbox controller node that Nico wrote, and forwards the data (publishes) to the ros2_control topics. This could be “if you press button A, joint 1 moves at a speed of 0.1m/s”, or anything similar. However you think the arm should be controlled for SAR.

Gimbal Controller → Suraj, Edward,