WMX ROS2 Documentation

Overview

Welcome to the WMX ROS2 documentation. This project provides ROS2 packages for controlling 6-DOF robotic manipulators through the WMX motion control platform over EtherCAT. The current supported robot is the Dobot CR3A.

Key capabilities:

• Follow the Getting Started guide to set up your environment and get running.

• Browse the Packages for wmx_ros2_message and wmx_ros2_package details.

• Explore Integration Scenarios for MoveIt2 and Isaac cuMotion planning.

• Check the API Reference for ROS2 services, topics, and actions.

• See Example Applications for real-world application demos.

• Scan through Troubleshooting for answers to common issues.

• Getting Started
• Packages
  • wmx_ros2_message
    • Overview
    • Package Structure
    • Dependencies
    • Message Definitions
    • Service Definitions
    • Building the Package
  • wmx_ros2_package
    • Overview
    • Package Structure
    • Dependencies
    • Nodes
    • Launch Files
    • Configuration Files
    • Building the Package
• Integration Scenarios
  • MoveIt2 Motion Planning
    • Overview
    • Architecture
    • Prerequisites
    • Configuration
    • Usage
    • Trajectory Execution Details
  • Isaac cuMotion Accelerated Planning
    • Overview
    • Prerequisites
    • Integration
    • Stage 2a – Simulation
    • Stage 2b – Hardware-in-the-Loop (HiL)
    • Stage 2c – Real Robot (No Simulation)
    • See Also
  • Custom Planner Integration
    • Overview
    • Replacing the Default Planner
    • Interface Requirements
    • Constraints and Limitations
    • Python Example: Custom Trajectory Generator
    • Standalone Axis Control
    • See Also
  • Building Custom Applications
    • Overview
    • Prerequisites
    • Available Interfaces
    • Python Example: Send a Trajectory
    • C++ Example: Send a Trajectory
    • Python Example: Read Robot State
    • Python Example: Monitor Axis State and Control Gripper
    • Using with MoveIt2 Python API
    • Direct Axis Control
    • Adapting for Different 6-DOF Robots
• API Reference
  • ROS2 Services
    • Custom Service Types
    • Engine Management Services
    • Axis Control Services
    • Gripper Service
    • I/O Services
    • EtherCAT Diagnostic Services
    • Service Call Workflow
    • Error Handling
    • See Also
  • ROS2 Topics
    • Custom Message Types
    • Published Topics
    • Subscribed Topics (Motion Commands)
    • Differential Drive Topics (Optional)
    • See Also
  • ROS2 Actions
    • FollowJointTrajectory
• Example Applications
  • Overview
  • Requirements
    • Isaac Sim Manipulator
    • Intel Manipulator Integration
• Support
  • Troubleshooting
    • Device Creation Failures
    • EtherCAT Scan Failures
    • Communication Start Failures
    • Joint States All Zero
    • Servo Alarm Errors
    • Trajectory Execution Failures
    • Gripper Not Responding
    • Nodes Not Found
    • Build Errors
    • Getting Help
• About Us