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flexiv_ros2 repositoryrobotics ros2 moveit2 flexiv ros2-humble flexiv_bringup flexiv_robot_states_broadcaster gpio_controller joint_impedance_controller flexiv_description flexiv_gripper flexiv_hardware flexiv_moveit_config flexiv_msgs flexiv_test_nodes |
Repository Summary
| Description | ROS 2 integration of RDK for Flexiv robots. |
| Checkout URI | https://github.com/flexivrobotics/flexiv_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros2 moveit2 flexiv ros2-humble |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| flexiv_bringup | 1.6.0 |
| flexiv_robot_states_broadcaster | 1.6.0 |
| gpio_controller | 1.6.0 |
| joint_impedance_controller | 1.6.0 |
| flexiv_description | 1.6.0 |
| flexiv_gripper | 1.6.0 |
| flexiv_hardware | 1.6.0 |
| flexiv_moveit_config | 1.6.0 |
| flexiv_msgs | 1.6.0 |
| flexiv_test_nodes | 1.6.0 |
README
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 real-time 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 |
Release Status
| ROS 2 Distro | Foxy | Humble |
|---|---|---|
| Branch | foxy | humble |
| Release Status |  |
 |
Getting Started
This project was developed for ROS 2 Foxy (Ubuntu 20.04) and Humble (Ubuntu 22.04). Other versions of Ubuntu and ROS 2 may work, but are not officially supported.
-
Install ROS 2 Humble via Debian Packages
-
Install
colconand additional ROS packages:
sudo apt install -y \
python3-colcon-common-extensions \
python3-rosdep2 \
libeigen3-dev \
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
- Setup workspace:
mkdir -p ~/flexiv_ros2_ws/src
cd ~/flexiv_ros2_ws/src
git clone https://github.com/flexivrobotics/flexiv_ros2.git
cd flexiv_ros2/
git submodule update --init --recursive
- Install dependencies:
cd ~/flexiv_ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro humble -r -y
[!NOTE] Skip step 5 and 6 if you have compile and install flexiv_rdk.
- Choose a directory for installing
flexiv_rdklibrary and all its dependencies. For example, a new folder namedrdk_installunder the home directory:~/rdk_install. Compile and install to the installation directory:
cd ~/flexiv_ros2_ws/src/flexiv_ros2/flexiv_hardware/rdk/thirdparty
bash build_and_install_dependencies.sh ~/rdk_install
- Configure and install
flexiv_rdk:
cd ~/flexiv_ros2_ws/src/flexiv_ros2/flexiv_hardware/rdk
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
cmake --build . --target install --config Release
- Build and source the workspace:
cd ~/flexiv_ros2_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/rdk_install
source install/setup.bash
[!NOTE] Remember to source the setup file and the workspace whenever a new terminal is opened:
```bash
File truncated at 100 lines see the full file
CONTRIBUTING
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