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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Code wrapper for MoveIt2! and ROS 2. |
| Checkout URI | https://github.com/croboticsolutions/arm_api2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics manipulation ros2 moveit2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
MoveIt2 interface for robot manipulators
Additional Links
No additional links.
Maintainers
- root
Authors
No additional authors.
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 moveit_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:
Aditional dependencies are (depending on the arm you use):
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_velandmax_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)
Example service call:
ros2 service call /arm/set_eelink arm_api2_msgs/srv/SetStringParam "{value: 'tcp'}"
Set planonly mode:
Planonly mode is used to plan a trajectory without executing it. Set planonly mode via service call:
- name:
arm/set_planonly - srv:
/std_srvs/srv/SetBool.srv - values
value(bool)
Example service call:
ros2 service call /arm/set_planonly std_srvs/srv/SetBool "{data: true}"
Simple interface (topic)
Run minimal simple interface with:
ros2 launch arm_api2 moveit2_simple_iface.launch.py robot_name=<robot>
Simple interface contains topics to command robot pose, path and
retrieve arm information.
Topic names are defined in the config/<robot_name>_sim file.
Command robot pose:
- name:
arm/cmd/pose - msg:
geometry_msgs/msg/PoseStamped.msg
ros2 topic pub /arm/cmd/pose geometry_msgs/msg/PoseStamped <wanted_pose>
Command cartesian path:
- name:
arm/cmd/traj - msg:
arm_api2_msgs/msg/CartesianWaypoints.msg
Get current end effector pose:
- name
arm/current/pose - msg:
geometry_msgs/msg/PoseStamped.msg
ros2 topic echo /arm/current/pose
Advanced interface (action)
Run advanced interface with:
ros2 launch arm_api2 moveit2_iface.launch.py robot_name=<robot>
Command robot pose:
A robot pose where the robot should move to can be commanded via ROS2 action.
- name:
arm/move_to_pose« - action:
arm_api2_msgs/action/MoveCartesian.action
ros2 action send_goal /arm/move_to_pose arm_api_msgs/action/MoveCartesian <wanted_pose>
Command cartesian path:
A catesian path can be commanded via ROS2 action.
- name:
arm/move_to_pose_path - action:
arm_api2_msgs/action/MoveCartesianPath.action
Command joint position:
A robot joint position where the robot should move to can be commanded via ROS2 action.
- name:
arm/move_to_pose - msg:
arm_api2_msgs/action/MoveJoint.msg
How to build package?
Build
Build in ROS 2 workspace. Build just one package with:
colcon build --packages-select arm_api2
Build with the compile commands (enable autocomplete):
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
Building with --symlink-install causes it to fail often because of already built ROS 2 packages, you can run:
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --continue-on-error
Full verbose build command:
colcon build --symlink-install --packages-select moveit2_tutorials --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_VERBOSE_MAKEFILE=ON
</details>
Simplify your life
Aliases
Copy to ~/.bashrc and source it.
alias cbp="colcon build --symlink-install --packages-select"
alias panda_sim="ros2 launch panda gz.launch.py"
alias kinova_sim="ros2 launch kortex_bringup kortex_sim_control.launch.py dof:=7 use_sim_time:=true launch_rviz:=false"
alias ur_sim="ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:=\"ur10\""
Build arm_api2 package as:
cbp arm_api2
Start franka sim with:
franka_sim
Start kinova sim with:
kinova_sim
Start ur sim with:
ur_sim
Start iface by changing robot_name argument to kinova, ur, franka, piper. Depending which arm you want to use, when running:
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:=<robot_name>
Tmunxinator
Start kinova with:
tmuxinator start kinova_api2
after calling
./copy_tmuxinator_config.sh kinova_api2.yml
located in utils/tmux_configs. Navigate between
panes with Ctrl+B+(arrows).
How to use Kinova? </summary>
First clone and build kinova repository in your workspace with:
```
cd /src
git clone https://github.com/CroboticSolutions/ros2_kortex
cd
colcon build --packages-select ros2_kortex
source /install/setup.bash
```
You can run kinova in simulation by executing following commands:
```bash
ros2 launch kortex_bringup kortex_sim_control.launch.py dof:=7 use_sim_time:=true launch_rviz:=false
```
or
```bash
kinova_sim
```
if alias has been added.
After that run `move_group` node as follows:
```bash
ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py
```
After that run `arm_api2` `moveit2_iface` node as follows:
```bash
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="kinova"
```
#### Kinova
How to setup real kinova [here](https://git.initrobots.ca/amercader/kinova-kortex-installation).
</details>
How to use UR?</summary>
You can run UR in simulation by executing following commands:
```
ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:="ur10"
```
or
```
ur_sim
```
if alias has been added.
After that run `move_group` node as follows:
```
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:="ur10" use_sim_time:=true
```
After that run `arm_api2` `moveit2_iface` node as follows:
```
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="ur"
```
#### How to setup?
First run:
```
sudo apt-get install ros-humble-ur
```
After that, in your ROS 2 workspace clone:
- [ur_gz_sim](https://github.com/CroboticSolutions/Universal_Robots_ROS2_GZ_Simulation/tree/humble)
- [ur_ros2_driver](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/tree/humble)
and build your workspace. Source it, and you're good to go.
Note, those are forks of the official UR repositories on the `humble` branch,
with [slight changes](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/commit/3ad47d7afaf99eeb1f69c6bb23bbdcccce12c4f5) to the `launch` files.
</details>
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
- [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
- [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
- [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [x] Create universal launch file
- [x] Create standardized joystick class
- [x] Test on the real robot
- [x] Test on the real UR
- [ ] Test on the real Franka
- [ ] Test on the real Kinova
- [ ] Test on the real FANUC
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [x] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
| :----------: | ------------- | -------------- | --------- | --- | ---- | -------- |
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | + | - |
| IIWA | - | - | - | - | - | - |
| Piper | - | + | + | - | + | - |
</details>
moveit status codes
MoveIt2! status codes that can be used to debug moveit servo:
```
INVALID = -1,
NO_WARNING = 0,
DECELERATE_FOR_APPROACHING_SINGULARITY = 1,
HALT_FOR_SINGULARITY = 2,
DECELERATE_FOR_COLLISION = 3,
HALT_FOR_COLLISION = 4,
JOINT_BOUND = 5,
DECELERATE_FOR_LEAVING_SINGULARITY = 6
```
## Roadmap
```mermaid
timeline
6/2025 : Merge latest developments
6/2025 : Decouple joy for different joys
6/2025 : Test with cumotion
9/2025 : Integrated with GUI
10/2025 : Tested on 5 manipulators
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
How to use UR?</summary>
You can run UR in simulation by executing following commands:
```
ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:="ur10"
```
or
```
ur_sim
```
if alias has been added.
After that run `move_group` node as follows:
```
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:="ur10" use_sim_time:=true
```
After that run `arm_api2` `moveit2_iface` node as follows:
```
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="ur"
```
#### How to setup?
First run:
```
sudo apt-get install ros-humble-ur
```
After that, in your ROS 2 workspace clone:
- [ur_gz_sim](https://github.com/CroboticSolutions/Universal_Robots_ROS2_GZ_Simulation/tree/humble)
- [ur_ros2_driver](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/tree/humble)
and build your workspace. Source it, and you're good to go.
Note, those are forks of the official UR repositories on the `humble` branch,
with [slight changes](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/commit/3ad47d7afaf99eeb1f69c6bb23bbdcccce12c4f5) to the `launch` files.
</details>
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
- [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
- [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
- [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [x] Create universal launch file
- [x] Create standardized joystick class
- [x] Test on the real robot
- [x] Test on the real UR
- [ ] Test on the real Franka
- [ ] Test on the real Kinova
- [ ] Test on the real FANUC
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [x] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
| :----------: | ------------- | -------------- | --------- | --- | ---- | -------- |
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | + | - |
| IIWA | - | - | - | - | - | - |
| Piper | - | + | + | - | + | - |
</details>
moveit status codes
MoveIt2! status codes that can be used to debug moveit servo:
```
INVALID = -1,
NO_WARNING = 0,
DECELERATE_FOR_APPROACHING_SINGULARITY = 1,
HALT_FOR_SINGULARITY = 2,
DECELERATE_FOR_COLLISION = 3,
HALT_FOR_COLLISION = 4,
JOINT_BOUND = 5,
DECELERATE_FOR_LEAVING_SINGULARITY = 6
```
## Roadmap
```mermaid
timeline
6/2025 : Merge latest developments
6/2025 : Decouple joy for different joys
6/2025 : Test with cumotion
9/2025 : Integrated with GUI
10/2025 : Tested on 5 manipulators
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
- [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
- [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
- [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [x] Create universal launch file
- [x] Create standardized joystick class
- [x] Test on the real robot
- [x] Test on the real UR
- [ ] Test on the real Franka
- [ ] Test on the real Kinova
- [ ] Test on the real FANUC
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [x] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
| :----------: | ------------- | -------------- | --------- | --- | ---- | -------- |
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | + | - |
| IIWA | - | - | - | - | - | - |
| Piper | - | + | + | - | + | - |
</details>
moveit status codes
MoveIt2! status codes that can be used to debug moveit servo:
```
INVALID = -1,
NO_WARNING = 0,
DECELERATE_FOR_APPROACHING_SINGULARITY = 1,
HALT_FOR_SINGULARITY = 2,
DECELERATE_FOR_COLLISION = 3,
HALT_FOR_COLLISION = 4,
JOINT_BOUND = 5,
DECELERATE_FOR_LEAVING_SINGULARITY = 6
```
## Roadmap
```mermaid
timeline
6/2025 : Merge latest developments
6/2025 : Decouple joy for different joys
6/2025 : Test with cumotion
9/2025 : Integrated with GUI
10/2025 : Tested on 5 manipulators
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
Arm interfaces
- [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
- [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
- [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [x] Create universal launch file
- [x] Create standardized joystick class
- [x] Test on the real robot
- [x] Test on the real UR
- [ ] Test on the real Franka
- [ ] Test on the real Kinova
- [ ] Test on the real FANUC
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [x] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
| :----------: | ------------- | -------------- | --------- | --- | ---- | -------- |
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | + | - |
| IIWA | - | - | - | - | - | - |
| Piper | - | + | + | - | + | - |
</details>
moveit status codes
MoveIt2! status codes that can be used to debug moveit servo:
```
INVALID = -1,
NO_WARNING = 0,
DECELERATE_FOR_APPROACHING_SINGULARITY = 1,
HALT_FOR_SINGULARITY = 2,
DECELERATE_FOR_COLLISION = 3,
HALT_FOR_COLLISION = 4,
JOINT_BOUND = 5,
DECELERATE_FOR_LEAVING_SINGULARITY = 6
```
## Roadmap
```mermaid
timeline
6/2025 : Merge latest developments
6/2025 : Decouple joy for different joys
6/2025 : Test with cumotion
9/2025 : Integrated with GUI
10/2025 : Tested on 5 manipulators
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
| :----------: | ------------- | -------------- | --------- | --- | ---- | -------- |
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | + | - |
| IIWA | - | - | - | - | - | - |
| Piper | - | + | + | - | + | - |
</details>
moveit status codes
MoveIt2! status codes that can be used to debug moveit servo:
```
INVALID = -1,
NO_WARNING = 0,
DECELERATE_FOR_APPROACHING_SINGULARITY = 1,
HALT_FOR_SINGULARITY = 2,
DECELERATE_FOR_COLLISION = 3,
HALT_FOR_COLLISION = 4,
JOINT_BOUND = 5,
DECELERATE_FOR_LEAVING_SINGULARITY = 6
```
## Roadmap
```mermaid
timeline
6/2025 : Merge latest developments
6/2025 : Decouple joy for different joys
6/2025 : Test with cumotion
9/2025 : Integrated with GUI
10/2025 : Tested on 5 manipulators
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
moveit status codes
CHANGELOG
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| python3 |
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 arm_api2 at Robotics Stack Exchange
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