Flexiv Test Nodes

This package contains the example demo nodes to use with/without Flexiv ROS 2 driver.

Robot States Publisher and Monitor

These nodes demonstrate how to publish and monitor Flexiv robot states directly from the Flexiv RDK using the Python flexivrdk package, without relying on the main ROS 2 driver stack.

Requirements

• ROS 2 Humble or Jazzy
• flexivrdk Python package (install via pip install flexivrdk)
• flexiv_msgs package (built with flexiv_ros2)

1. Robot States Publisher

Publishes robot states directly from Flexiv RDK to the ROS 2 topic, bypassing the main ROS 2 driver.

Features:

• Direct RDK integration using Python flexivrdk package
• Publishes Flexiv robot states at 100 Hz
• Monitors robot status (busy, operational, fault, reduced)
• Compatible with ROS 2 Humble and Jazzy

Use case: When you need direct robot state monitoring instead of the flexiv_robot_states_broadcaster node from the main driver stack.

Launch:

ros2 launch flexiv_test_nodes robot_states_publisher.launch.py robot_sn:=[robot_sn]

Published topic:

• /${robot_sn}/flexiv_robot_states (flexiv_msgs/msg/RobotStates.msg)

Parameters:

• robot_sn: Robot serial number (required)
• network_interface: Network interface name (optional, auto-detect if empty)
• publish_rate: Publish rate in Hz (default: 100)

2. Robot States Monitor

Example subscriber node demonstrating how to receive and process robot states.

Run:

ros2 run flexiv_test_nodes robot_states_monitor --ros-args -p robot_sn:=[robot_sn]

[!NOTE]

• The ROS/RDK version must match the Flexiv robot software version.
• Topic names are automatically sanitized for robot serial numbers (dash becomes underscore).

Publisher Joint Trajectory Controller

Example node to send joint position commands to the joint trajectory controller.