with the help of the construct team, i have created a rosject http://www.rosject.io/l/ece7d04/
also in my git https://github.com/panagelak/Open_Mobile_Manipulator.git (picture of real robot)
The real robot should cost approximately 600-800 euros if you want to build it email me at email@example.com or comment here for details.
I would like some help to make the arm stable with the effort controllers on the simualtion, probably bad inertials or bad mass values or bad pid or bad arm urdf.
some relevant files to edit at
(for ros control of the arm)
(urdf of the arm)
(macros for the links of the arm)
(to change the mass values of the arm)
The goal is to be able to pick the object that is on the simulation 2 meters forward of the robot!!!
moveit is functional (i dont know about the gripper)
amcl/gmapping/move_base should also be functional (make a map first with gmapping)
The code is simple to understand,
In my opinion it is the cheapest educational mobile manipulator you can build!!
Any help much appreciated!!!