r2d2 (ros2dorna2) - set of ROS2 packages which provide support for Dorna2 robotic arm.

r2d2_control package contains ROS2 Joint Trajectory Controller node for Dorna2 robotic arm.

NOTE: This is unofficial Dorna ROS2 package. For official Dorna software follow https://dorna.ai/

Prereq

• Java 22

Build

First build Java part:

gradle clean build

Then build ROS part:

cd <ROS WORKSPACE>
colcon build
source install/setup.zsh

Run

ros2 launch sainsmart-simulator simulate_launch.py

Documentation

• r2d2

Usage

r2d2_control [ <OPTIONS> ]

Options:

-dornaUrl=<string> - URL to Dorna2 robotic arm Command Server. Default: "ws://192.168.0.3:443"

-controllerName=<string> - name of the Dorna2 controller as it will appear to ROS nodes. Default: "dorna2_arm_controller"

-moveItConfigPath=<path> - path to r2d2_moveit_config ROS package with MoveIt configuration of Dorna2 arm. Default: "../r2d2_moveit_config"

-broadcastRateInMillis=<int> - how often to publish states of Dorna2 joints. Default: 100

-exportMetricsToElastic=<string> - Elasticsearch URL where metrics will be emitted. Credentials can be part of the URL. Example "http://user:password@localhost:9200" (this option is ignored if "METRICS_ELASTIC_URL" environment variable is present)

-debug=<true|false> - print debug information and log it to r2d2-control-debug.log inside system temporary folder. Default is "false".

Contacts

aeon_flux aeon_flux@eclipso.ch