dobot_magician_bridge

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.

dobot_magician_bridge

ROS2 driver for the real Dobot Magician. It talks to the robot’s firmware over its USB serial port and exposes the same interfaces as the simulated arm, so MoveIt, the ros2srrc nodes and the HAL run unchanged. The same exercise code moves the simulated and the real robot.

The Dobot has no ROS inside, only a proprietary firmware that speaks the Dobot Communication Protocol. This node is the driver itself, pure rclpy with no extra dependencies, and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/robot_arms/launch/dobot_magician_physical.launch.py, the launch file used for scenes of type physical.

Interfaces

Simulated arm	Real arm (this node)
`gz_ros2_control` joint trajectory controller	`/joint_trajectory_controller/follow_joint_trajectory`, each trajectory becomes firmware point to point moves timed to the planned duration
`joint_state_broadcaster`	`/joint_states` read from the robot’s encoders
`gz_link_attacher` on `/gripper_auto_attach`	`/gripper_auto_attach` turns the suction cup pump on and off

The firmware measures J3 from the table, the URDF from the rear arm, so joint_3 = J3 - J2. The parallelogram mimic joints are published too.

Homing

Straight after power on the arm rests folded low, and the firmware homing sweeps the base from there, dragging the tool over the table. The node raises J2 and J3 first, base untouched, then homes. It homes once per robot power on, RAM relaunches the robot every time the exercise code is stopped and that does not home again.

Parameters

port, auto finds the Dobot by its USB ids (CP2102 or CH340), or a device path like /dev/ttyUSB0.
end_effector, defaults to suction_cup.
homing, auto (default) homes once per power on, always or never.
rate, joint_states rate in Hz, defaults to 20.

USB access from the docker

The container needs the robot’s serial port. Plugging it before or after starting the container both work with:

-v /dev:/host_dev:ro --device-cgroup-rule='c 188:* rmw' --device-cgroup-rule='c 166:* rmw'

The host /dev goes to /host_dev instead of /dev, so the host terminals in /dev/pts never show up inside the container. Already set in compose_cfg/dev_humble_*.yaml of RoboticsAcademy. Only works on Linux hosts, Docker Desktop on Windows and macOS does not pass USB devices through.

Not using pyserial

The RADI image ships an unrelated PyPI package also called serial that shadows pyserial, so the port is opened with plain termios.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	control_msgs
	sensor_msgs
	std_msgs
	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `dobot_magician_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

dobot_magician_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin dobot_magician_bridge dobot_magician_gripper_moveit_config drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config myagv_mecharm_moveit_config myagv_mycobot_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_dobot_magician_moveit2 ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-16
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that drives a real Dobot Magician over its USB serial port and exposes the same interfaces as the simulated one, so MoveIt and the HAL do not see any difference between sim and real robot.

Maintainers

aquintan

Authors

No additional authors.