# How to run a local robot arm with ROS

**URL:** <https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511>\
**Category:** compas\_fab\
**Created:** [August 27, 2021, 10:03am UTC](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511 "2021-08-27T10:03:53Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![8H\_Y8](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/8h_y8/32/303_2.png) [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\
**Post date:** [August 27, 2021, 10:03am UTC](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511/1 "2021-08-27T10:03:53Z")

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Hi, every one.  
In compas\_fab, there are demos for running various robot arms(ex.ABB, KUKA and UR) with ROS.

I would like to run a local robot arm model with ROS, not the one in the demo. Is there any way to run this?

I can run docker on Window10 pro, and I can display my robot arm model in urdf file as shown in the movie.  
Now, I don’t run this arm model with ROS.

And I’ve uploaded a video of it in action, so check it out.

[![](https://us1.discourse-cdn.com/flex015/uploads/compas_framework1/original/1X/53372017652c0880de52f8db8f835968a867e3a7.jpeg "Robot Arm with Rhinoceros+Grasshopper") ](https://www.youtube.com/watch?v=F2F7dBSZWgw)

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**Author:** ![gonzalocasas](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/gonzalocasas/32/127_2.png) [@gonzalocasas](https://forum.compas-framework.org/u/gonzalocasas)\
**Post date:** [September 10, 2021, 1:30pm UTC](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511/2 "2021-09-10T13:30:04Z")

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Cool demo! So, this seems to work very well! Now, what do you want to get done? Do you want to run this in ROS? May I ask which model of robot is that?

Thanks!  
Gonzalo

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**Author:** ![8H\_Y8](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/8h_y8/32/303_2.png) [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\
**Post date:** [September 10, 2021, 3:41pm UTC](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511/3 "2021-09-10T15:41:21Z")

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Hi, @gonzalocasas

Thank you for your reply and watching the demo.

I want to run ROS to use “Moveit” .  
I had a file called “038\_robot\_playground\_ur5.ghx” in your workshop（[https://github.com/gramaziokohler/workshop\_tokyo\_2020/tree/master/examples）](https://github.com/gramaziokohler/workshop_tokyo_2020/tree/master/examples%EF%BC%89), and I was running a UR5 robot model in Moveit.  
I would like to do something similar with a local robot instead of UR5.

The robot is called “myCobot” and is made by Elephant Robotics.([myCobot – Elephant Robotics](https://www.elephantrobotics.com/en/myCobot-en/))  
The official Github account is " [https://github.com/elephantrobotics](https://github.com/elephantrobotics) ".

The source code for the grasshopper shown in the demo is available on my Github, so please check it out.([https://github.com/YUSUKE-HIGUCHI/rhino-mycobot](https://github.com/YUSUKE-HIGUCHI/rhino-mycobot))

Thanks.  
Yusuke Higuchi