Install WMX R2 Package

WMX R2 runs in the wmx_r2_container Docker container. The steps below set the container up from the host; once it is running, every ROS 2 command — on this page and throughout this documentation — goes through wros, which runs a command inside the container as root, with ROS 2 and the workspace already sourced.

Important

The WMX Runtime must be installed on the host (/opt/wmx3/). The container mounts it; it does not provide it. See Install WMX Runtime.

Clone the repository

Clone first: the environment step below sources a file from inside the repository.

mkdir -p ~/workspaces/movensys_ws/src
cd ~/workspaces/movensys_ws/src
git clone https://github.com/movensys/wmx-r2.git

Configure the environment

Add the following to your ~/.bashrc:

export ROS_DOMAIN_ID=73                         # any number; the same one everywhere
export ROS_DISTRO=jazzy                         # {jazzy, humble}
export CPU_ARCH=amd64                           # {amd64, arm64}
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

source ~/workspaces/movensys_ws/src/wmx-r2/docker/wros.bash

Note

ROS_DOMAIN_ID must be the same value in every container that has to talk to WMX R2 — the manipulator and navigation setup pages set it too. A mismatch is silent: the nodes start, and no /wmx/* topic is ever seen.

Apply the changes:

xhost +local:docker
source ~/.bashrc

Build and start the container

cd ~/workspaces/movensys_ws/src/wmx-r2/docker
docker compose -f general.yaml -f wmx_r2.${CPU_ARCH}.yaml down
docker compose -f general.yaml -f wmx_r2.${CPU_ARCH}.yaml build
docker compose -f general.yaml -f wmx_r2.${CPU_ARCH}.yaml up -d

Follow the startup logs, then open a shell:

docker logs wmx_r2_container -f

Called with no arguments, wros opens an interactive shell inside the container.

Note

The container and image names and the host paths — WMX_R2_PACKAGES, WMX3_SDK_PATH — come from docker/.env, relative to the docker/ directory. Edit that file if your layout differs from the default ~/workspaces one.

Verify Installation

wros ros2 pkg list | grep wmx
wros ros2 pkg executables wmx_r2_package

Expected:

wmx_r2_control
wmx_r2_message
wmx_r2_package
wmx_r2_package differential_drive_controller
wmx_r2_package gripper_controller
wmx_r2_package joint_position_controller
wmx_r2_package joint_state_broadcaster
wmx_r2_package joint_trajectory_controller
wmx_r2_package wmx_core_motion_node
wmx_r2_package wmx_engine_node
wmx_r2_package wmx_ethercat_node
wmx_r2_package wmx_io_node
wmx_r2_package wmx_lifecycle_manager_node