Custom robotic arm simulation to hardware -- part01 

This project focused on developing a ROS2-based control system for a robotic arm, with the primary objective of ensuring seamless operation in both simulated (GAZEBO) and real-world environments. The methodology adopted included designing a detailed CAD model of the robotic arm, converting it into the Universal Robot Description Format (URDF) for simulation, and integrating ROS2 and MoveIt2 for advanced motion planning and control. A lifecycle node was also implemented to manage real-time communication between the simulated environment and the physical robot, ensuring smooth transitions and reliable operation.