Hi Annin Robotics Community,
I'm excited to share that I've recently developed and released a ROS 2 driver for the AR4 robot arm. It uses ros2_control framework for robot control, MoveIt 2 for motion planning, and Rviz2 for user interface and visualization. It's available to use at https://github.com/ycheng517/ar4_ros_driver and will be actively developed and maintained. Check it out if you wish to tap into the power of ROS 2 with the AR4, and contributions are welcome!
I wanted to mention that Yifei Cheng has added files for the MK2 to this repo. I have not had time to test yet but I was hoping someone in the comunity would be able to test this out on the MK2 and give feedback. I also wanted to thank Yifei for taking the time to put this together and contributing to the project. This is a great development - Thank you.