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flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING

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

flexiv_ros2 repository

flexiv_bringup flexiv_robot_states_broadcaster gpio_controller flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/flexivrobotics/flexiv_ros2.git
VCS Type git
VCS Version humble
Last Updated 2026-03-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
flexiv_bringup 1.9.0
flexiv_robot_states_broadcaster 1.9.0
gpio_controller 1.9.0
flexiv_gripper 1.9.0
flexiv_hardware 1.9.0
flexiv_moveit_config 1.9.0
flexiv_msgs 1.9.0
flexiv_test_nodes 1.9.0

README

Flexiv ROS 2

License docs

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

Supported OS Supported ROS 2 distribution
Ubuntu 20.04 Foxy Fitzroy
Ubuntu 22.04 Humble Hawksbill
Ubuntu 24.04 Jazzy Jalisco

Release Status

ROS 2 Distro Foxy Humble Jazzy
Branch foxy Last release: v0.9 humble jazzy
Release Status Foxy Binary Build Humble Binary Build Jazzy Binary Build

Getting Started

This project was developed for ROS 2 Foxy (Ubuntu 20.04), 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 \
   python3-rosdep2 \
   libeigen3-dev \
   wget \
   ros-humble-control-toolbox \
   ros-humble-hardware-interface \
   ros-humble-joint-state-publisher \
   ros-humble-joint-state-publisher-gui \
   ros-humble-moveit \
   ros-humble-realtime-tools \
   ros-humble-robot-state-publisher \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-rviz2 \
   ros-humble-test-msgs \
   ros-humble-tinyxml2-vendor \
   ros-humble-xacro
  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 flexiv_install under the home directory: ~/flexiv_install. Compile and install to the installation directory:
   cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty
   source /opt/ros/humble/setup.bash
   bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_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=~/flexiv_install
   cmake --build . --target install --config Release
  1. Build and source the workspace:
   cd ~/flexiv_ros2_ws
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
   source install/setup.bash

Flexiv DRDK Installation (Optional)

File truncated at 100 lines see the full file

CONTRIBUTING