├── .gitignore ├── LICENSE ├── README.md ├── Section3_Introduction_to_ROS_2 └── arduinobot_ws │ └── src │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_publisher.cpp │ │ └── simple_subscriber.cpp │ └── arduinobot_py_examples │ ├── arduinobot_py_examples │ ├── __init__.py │ ├── simple_publisher.py │ └── simple_subscriber.py │ ├── package.xml │ ├── resource │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── Section4_Digital_Twin └── arduinobot_ws │ └── src │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ └── arduinobot.urdf.xacro │ └── arduinobot_py_examples │ ├── arduinobot_py_examples │ ├── __init__.py │ ├── simple_parameter.py │ ├── simple_publisher.py │ └── simple_subscriber.py │ ├── package.xml │ ├── resource │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── Section5_Control └── arduinobot_ws │ └── src │ ├── arduinobot_controller │ ├── CMakeLists.txt │ ├── arduinobot_controller │ │ ├── __init__.py │ │ └── slider_control.py │ ├── config │ │ └── arduinobot_controllers.yaml │ ├── launch │ │ ├── controller.launch.py │ │ └── slider_controller.launch.py │ ├── package.xml │ └── src │ │ └── slider_control.cpp │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ ├── arduinobot.urdf.xacro │ │ ├── arduinobot_gazebo.xacro │ │ └── arduinobot_ros2_control.xacro │ └── arduinobot_py_examples │ ├── arduinobot_py_examples │ ├── __init__.py │ ├── simple_parameter.py │ ├── simple_publisher.py │ └── simple_subscriber.py │ ├── package.xml │ ├── resource │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── Section6_Kinematics └── arduinobot_ws │ └── src │ ├── arduinobot_controller │ ├── CMakeLists.txt │ ├── arduinobot_controller │ │ ├── __init__.py │ │ └── slider_control.py │ ├── config │ │ └── arduinobot_controllers.yaml │ ├── launch │ │ ├── controller.launch.py │ │ └── slider_controller.launch.py │ ├── package.xml │ └── src │ │ └── slider_control.cpp │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ ├── simple_service_client.cpp │ │ ├── simple_service_server.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ ├── arduinobot.urdf.xacro │ │ ├── arduinobot_gazebo.xacro │ │ └── arduinobot_ros2_control.xacro │ ├── arduinobot_moveit │ ├── CMakeLists.txt │ ├── config │ │ ├── arduinobot.srdf │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ └── pilz_cartesian_limits.yaml │ ├── launch │ │ └── moveit.launch.py │ └── package.xml │ ├── arduinobot_msgs │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ ├── AddTwoInts.srv │ │ ├── EulerToQuaternion.srv │ │ └── QuaternionToEuler.srv │ ├── arduinobot_py_examples │ ├── arduinobot_py_examples │ │ ├── __init__.py │ │ ├── simple_parameter.py │ │ ├── simple_publisher.py │ │ ├── simple_service_client.py │ │ ├── simple_service_server.py │ │ └── simple_subscriber.py │ ├── package.xml │ ├── resource │ │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── arduinobot_utils │ ├── CMakeLists.txt │ ├── arduinobot_utils │ ├── __init__.py │ └── angle_conversion.py │ ├── package.xml │ └── src │ └── angle_conversion.cpp ├── Section7_Application └── arduinobot_ws │ └── src │ ├── arduinobot_controller │ ├── CMakeLists.txt │ ├── arduinobot_controller │ │ ├── __init__.py │ │ └── slider_control.py │ ├── config │ │ └── arduinobot_controllers.yaml │ ├── launch │ │ ├── controller.launch.py │ │ └── slider_controller.launch.py │ ├── package.xml │ └── src │ │ └── slider_control.cpp │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_action_client.cpp │ │ ├── simple_action_server.cpp │ │ ├── simple_moveit_interface.cpp │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ ├── simple_service_client.cpp │ │ ├── simple_service_server.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ ├── arduinobot.urdf.xacro │ │ ├── arduinobot_gazebo.xacro │ │ └── arduinobot_ros2_control.xacro │ ├── arduinobot_moveit │ ├── CMakeLists.txt │ ├── config │ │ ├── arduinobot.srdf │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ └── planning_python_api.yaml │ ├── launch │ │ └── moveit.launch.py │ └── package.xml │ ├── arduinobot_msgs │ ├── CMakeLists.txt │ ├── action │ │ ├── ArduinobotTask.action │ │ └── Fibonacci.action │ ├── package.xml │ └── srv │ │ ├── AddTwoInts.srv │ │ ├── EulerToQuaternion.srv │ │ └── QuaternionToEuler.srv │ ├── arduinobot_py_examples │ ├── arduinobot_py_examples │ │ ├── __init__.py │ │ ├── simple_action_client.py │ │ ├── simple_action_server.py │ │ ├── simple_moveit_interface.py │ │ ├── simple_parameter.py │ │ ├── simple_publisher.py │ │ ├── simple_service_client.py │ │ ├── simple_service_server.py │ │ └── simple_subscriber.py │ ├── launch │ │ └── simple_moveit_interface.launch.py │ ├── package.xml │ ├── resource │ │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── arduinobot_remote │ ├── CMakeLists.txt │ ├── arduinobot_remote │ │ ├── __init__.py │ │ ├── alexa_interface.py │ │ └── task_server.py │ ├── launch │ │ └── remote_interface.launch.py │ ├── package.xml │ └── src │ │ └── task_server.cpp │ └── arduinobot_utils │ ├── CMakeLists.txt │ ├── arduinobot_utils │ ├── __init__.py │ └── angle_conversion.py │ ├── package.xml │ └── src │ └── angle_conversion.cpp ├── Section8_Alexa_Integration └── arduinobot_ws │ └── src │ ├── arduinobot_bringup │ ├── CMakeLists.txt │ ├── launch │ │ └── simulated_robot.launch.py │ └── package.xml │ ├── arduinobot_controller │ ├── CMakeLists.txt │ ├── arduinobot_controller │ │ ├── __init__.py │ │ └── slider_control.py │ ├── config │ │ └── arduinobot_controllers.yaml │ ├── launch │ │ ├── controller.launch.py │ │ └── slider_controller.launch.py │ ├── package.xml │ └── src │ │ └── slider_control.cpp │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_action_client.cpp │ │ ├── simple_action_server.cpp │ │ ├── simple_moveit_interface.cpp │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ ├── simple_service_client.cpp │ │ ├── simple_service_server.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ ├── arduinobot.urdf.xacro │ │ ├── arduinobot_gazebo.xacro │ │ └── arduinobot_ros2_control.xacro │ ├── arduinobot_moveit │ ├── CMakeLists.txt │ ├── config │ │ ├── arduinobot.srdf │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ └── planning_python_api.yaml │ ├── launch │ │ └── moveit.launch.py │ └── package.xml │ ├── arduinobot_msgs │ ├── CMakeLists.txt │ ├── action │ │ ├── ArduinobotTask.action │ │ └── Fibonacci.action │ ├── package.xml │ └── srv │ │ ├── AddTwoInts.srv │ │ ├── EulerToQuaternion.srv │ │ └── QuaternionToEuler.srv │ ├── arduinobot_py_examples │ ├── arduinobot_py_examples │ │ ├── __init__.py │ │ ├── simple_action_client.py │ │ ├── simple_action_server.py │ │ ├── simple_moveit_interface.py │ │ ├── simple_parameter.py │ │ ├── simple_publisher.py │ │ ├── simple_service_client.py │ │ ├── simple_service_server.py │ │ └── simple_subscriber.py │ ├── launch │ │ └── simple_moveit_interface.launch.py │ ├── package.xml │ ├── resource │ │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── arduinobot_remote │ ├── CMakeLists.txt │ ├── arduinobot_remote │ │ ├── __init__.py │ │ ├── alexa_interface.py │ │ └── task_server.py │ ├── launch │ │ └── remote_interface.launch.py │ ├── package.xml │ └── src │ │ └── task_server.cpp │ └── arduinobot_utils │ ├── CMakeLists.txt │ ├── arduinobot_utils │ ├── __init__.py │ └── angle_conversion.py │ ├── package.xml │ └── src │ └── angle_conversion.cpp ├── Section9_Build └── arduinobot_ws │ └── src │ ├── arduinobot_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── real_robot.launch.py │ │ └── simulated_robot.launch.py │ └── package.xml │ ├── arduinobot_controller │ ├── CMakeLists.txt │ ├── arduinobot_controller.xml │ ├── arduinobot_controller │ │ ├── __init__.py │ │ └── slider_control.py │ ├── config │ │ └── arduinobot_controllers.yaml │ ├── include │ │ └── arduinobot_controller │ │ │ └── arduinobot_interface.hpp │ ├── launch │ │ ├── controller.launch.py │ │ └── slider_controller.launch.py │ ├── package.xml │ └── src │ │ ├── arduinobot_interface.cpp │ │ └── slider_control.cpp │ ├── arduinobot_cpp_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── simple_action_client.cpp │ │ ├── simple_action_server.cpp │ │ ├── simple_lifecycle_node.cpp │ │ ├── simple_moveit_interface.cpp │ │ ├── simple_parameter.cpp │ │ ├── simple_publisher.cpp │ │ ├── simple_service_client.cpp │ │ ├── simple_service_server.cpp │ │ └── simple_subscriber.cpp │ ├── arduinobot_description │ ├── CMakeLists.txt │ ├── arduinobot.pdf │ ├── launch │ │ ├── display.launch.py │ │ └── gazebo.launch.py │ ├── meshes │ │ ├── base_plate.STL │ │ ├── basement.STL │ │ ├── claw_support.STL │ │ ├── forward_drive_arm.STL │ │ ├── horizontal_arm.STL │ │ ├── left_finger.STL │ │ ├── link.STL │ │ ├── plate.STL │ │ ├── right_finger.STL │ │ ├── round_plate.STL │ │ ├── servo_plate.STL │ │ ├── triangular_link.STL │ │ └── vertical_drive_arm.STL │ ├── package.xml │ ├── rviz │ │ └── display.rviz │ └── urdf │ │ ├── arduinobot.urdf.xacro │ │ ├── arduinobot_gazebo.xacro │ │ └── arduinobot_ros2_control.xacro │ ├── arduinobot_firmware │ ├── CMakeLists.txt │ ├── arduinobot_firmware │ │ ├── __init__.py │ │ ├── simple_serial_receiver.py │ │ └── simple_serial_transmitter.py │ ├── firmware │ │ ├── motor_calibration │ │ │ └── motor_calibration.ino │ │ ├── robot_control │ │ │ └── robot_control.ino │ │ ├── simple_serial_receiver │ │ │ └── simple_serial_receiver.ino │ │ ├── simple_serial_transmitter │ │ │ └── simple_serial_transmitter.ino │ │ └── simple_servo_control │ │ │ └── simple_servo_control.ino │ ├── package.xml │ └── src │ │ ├── simple_serial_receiver.cpp │ │ └── simple_serial_transmitter.cpp │ ├── arduinobot_moveit │ ├── CMakeLists.txt │ ├── config │ │ ├── arduinobot.srdf │ │ ├── initial_positions.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── moveit.rviz │ │ ├── moveit_controllers.yaml │ │ ├── pilz_cartesian_limits.yaml │ │ └── planning_python_api.yaml │ ├── launch │ │ └── moveit.launch.py │ └── package.xml │ ├── arduinobot_msgs │ ├── CMakeLists.txt │ ├── action │ │ ├── ArduinobotTask.action │ │ └── Fibonacci.action │ ├── package.xml │ └── srv │ │ ├── AddTwoInts.srv │ │ ├── EulerToQuaternion.srv │ │ └── QuaternionToEuler.srv │ ├── arduinobot_py_examples │ ├── arduinobot_py_examples │ │ ├── __init__.py │ │ ├── simple_action_client.py │ │ ├── simple_action_server.py │ │ ├── simple_moveit_interface.py │ │ ├── simple_parameter.py │ │ ├── simple_publisher.py │ │ ├── simple_service_client.py │ │ ├── simple_service_server.py │ │ └── simple_subscriber.py │ ├── launch │ │ └── simple_moveit_interface.launch.py │ ├── package.xml │ ├── resource │ │ └── arduinobot_py_examples │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── arduinobot_remote │ ├── CMakeLists.txt │ ├── arduinobot_remote │ │ ├── __init__.py │ │ ├── alexa_interface.py │ │ └── task_server.py │ ├── launch │ │ └── remote_interface.launch.py │ ├── package.xml │ └── src │ │ └── task_server.cpp │ └── arduinobot_utils │ ├── CMakeLists.txt │ ├── arduinobot_utils │ ├── __init__.py │ └── angle_conversion.py │ ├── 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