Repo with the description package of the UMA arm
To launch it:
Launch the model only
ros2 launch uma_arm_description uma_arm.launch.py
ros2 run joint_state_publisher_gui joint_state_publisher_gui
rviz2
ros2 launch gazebo_ros gazebo.launch.py
Launch the model in Gazebo
ros2 launch uma_arm_description uma_arm_sim.launch.py
Set "Joint Trajectory"
ros2 topic pub -1 /set_joint_trajectory trajectory_msgs/msg/JointTrajectory '{header: {frame_id: world}, joint_names: [joint_1, joint_2], points: [ {positions: {0.8,0.6}} ]}'