arm_api2

:mechanical_arm: API for robotic manipulators based on ROS 2 and MoveIt2!

Docker for building required environment can be found here.

Use prebuilt docker

Pull and run docker container arm_api2_cont:

git clone git@github.com:CroboticSolutions/docker_files.git 
cd ./docker_files/ros2/humble/arm_api2
./pull_and_run_docker.sh
<robot>_sim (start robot in simulation)

Run move_group for that robot (see particular instructions for supported arms in How to use section). And after that run:

ros2 launch arm_api2 moveit2_simple_iface.launch.py robot_name:=<robot_name>

Currently supported robot names are: ur, kinova, franka, piper.

For full instructions check section How to use arm_api2?

Build your own docker

In order to build it easily, run following comands:

git clone git@github.com:CroboticSolutions/docker_files.git
cd ./docker_files/ros2/humble/arm_api2
docker build -t arm_api2_img:humble .
./run_docker.sh 

After running docker, you can enter container with:

docker exec -it arm_api2_cont bash

Docker for building required environment can be found here.

For building ROS 2 packages and moveit, it is neccessary to use colcon.

Tell us anonymously what arms we should support here. :smile:

Depends on:

• arm_api2_msgs

Aditional dependencies are (depending on the arm you use):

• kinova
• panda_sim
• ur
• ur_sim

How to use arm_api2?

Change robot state:

The robot state can be changed via a ROS2 service.

• name: arm/change_state
• srv: /arm_api2_msgs/srv/ChangeState.srv
• values JOINT_TRAJ_CTL || CART_TRAJ_CTL || SERVO_CTL

Example service call:

ros2 service call /arm/change_state arm_api2_msgs/srv/ChangeState "{state: JOINT_TRAJ_CTL}"

Currently implemented and available robot states are:

• JOINT_TRAJ_CTL, which is used for joint control
• CART_TRAJ_CTL, which is used for cartesian control
• SERVO_CTL, which is used for the end effector servoing

Set max velocity and acceleration scaling factor:

Set velocity and acceleration scaling factors via service call:

• name: arm/set_vel_acc
• srv: /arm_api2_msgs/srv/SetVelAcc.srv
• values max_vel and max_acc (both float64)

Example service call:

ros2 service call /arm/set_vel_acc arm_api2_msgs/srv/SetVelAcc "{max_vel: 0.5, max_acc: 0.5}"

Set end effector link:

Set end effector link via service call:

• name: arm/set_eelink
• srv: /arm_api2_msgs/srv/SetStringParam.srv
• values value (string)

File truncated at 100 lines see the full file

Changes added by KIT (Edgar Welte)

Sep 2024

• add frame_id to published current pose
• add service to set max_vel and max_acc scaling factor
• add action servers instead of subscribers to receive commands (pose, joint_state, or pose path)
• add example script to send pose to action server
• add LIN, EST and PRM Planner for pose action

Oct 2024

• add keyboard control node to control the robot via keyboard in servo mode

Nov 2024

• integrate xbox joy ctl

Jan 2025

• refactor code for planning
• add gripper functionality incl. action client for robotiq_2f
• add service for setting end effector link in moveit2 interface
• add servo watchdog node to monitor twist/jog commands and publish zero velocity if inactive
• add cumotion as planner

Feb 2025

• set proper planner priority: 1. cumotion, if failed then PRM, EST, LIN (each 3 times)
• add planonly mode

Future potential features

• realtime pose follower (teleoperation: servo via absolute position)
• constraints for planners (e.g. orientation constraint for cup transport)
• dynamic scene object update