Flexiv ROS 2

For ROS 2 users to easily work with RDK, the APIs of RDK are wrapped into ROS packages in flexiv_ros2. Key functionalities like realtime and non-realtime joint torque and position control are supported, and the integration with ros2_control framework and MoveIt! 2 is also implemented.

References

Flexiv RDK main webpage contains important information like RDK user manual and network setup.

Compatibility

Release Status

ROS 2 Distro	Humble	Jazzy
Branch	humble	jazzy
Release Status

[!NOTE] Release lines. Two parallel version lines are maintained per ROS 2 distribution:

Line	Branch	RDK	Supported robots
v2	humble	RDK v2.x	Enlight-L, Enlight-LL, MICO-Core, MICO-Plus, MICO-Ultra
v1	humble-v1	RDK v1.x	Rizon 4/4s/4M/4R/10/10s, AICO1/2

The default humble/jazzy branches track the current v2 line. For Rizon support on RDK v1.x, use the humble-v1/jazzy-v1 branches. The two lines use incompatible RDK APIs and are not interchangeable.

Getting Started

This project was developed for ROS 2 Humble (Ubuntu 22.04) and Jazzy (Ubuntu 24.04). Other versions of Ubuntu and ROS 2 may work, but are not officially supported.

1. Install ROS 2 Humble via Debian Packages

2. Install colcon and additional ROS packages:

   sudo apt install -y \
   python3-colcon-common-extensions \
   libeigen3-dev \
   wget \
   ros-humble-xacro \
   ros-humble-tinyxml2-vendor \
   ros-humble-ros2-control \
   ros-humble-realtime-tools \
   ros-humble-control-toolbox \
   ros-humble-moveit \
   ros-humble-ros2-controllers \
   ros-humble-test-msgs \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-robot-state-publisher \
   ros-humble-rviz2
   

1. Setup workspace:

   mkdir -p ~/flexiv_ros2_ws/src
   cd ~/flexiv_ros2_ws/src
   git clone https://github.com/flexivrobotics/flexiv_ros2.git -b humble
   

1. Install dependencies:

   cd ~/flexiv_ros2_ws
   vcs import src < src/flexiv_ros2/flexiv.humble.repos --recursive --skip-existing
   touch src/flexiv_rdk/COLCON_IGNORE
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro humble -r -y
   

1. Choose a directory for installing flexiv_rdk library and all its dependencies. For example, a new folder named rdk_install under the home directory: ~/rdk_install. Compile and install to the installation directory:

   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   bash build_and_install_dependencies.sh ~/rdk_install
   

1. Configure and install flexiv_rdk:

   cd ~/flexiv_ros2_ws/src/flexiv_rdk
   rm -rf build && mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
   make install
   

1. Build and source the workspace:

```bash cd ~/flexiv_ros2_ws source /opt/ros/humble/setup.bash

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