Example Applications#

This section provides complete examples that you can run from start to finish on the WMX ROS2 stack. The manipulator scenarios come from the movensys-manipulator repository (Dobot CR3A / CR5A arms with MoveIt2 / Isaac cuMotion planning and Nvblox / YOLO / AprilTag perception). The Robopoly game is a voice-driven VLM/LLM application from the movensys-intelligence repository, built on top of the manipulator stack.

Every manipulator scenario runs in three execution modes:

  • Simulation – pure simulation (Isaac Sim or Gazebo), no hardware

  • HIL – hardware-in-the-loop: simulator visuals with the real WMX runtime

  • Real – the real robot via WMX over EtherCAT

Common Requirements#

  • The core WMX ROS2 packages built and the WMX Runtime at /opt/wmx3/ (see Getting Started)

  • Docker with docker compose (the examples run inside containers)

  • An NVIDIA GPU and Isaac ROS prerequisites for the isaac-ros_* images

  • EtherCAT hardware for HIL and Real modes

  • The movensys-simulation repo for the Isaac Sim scenes

Before running any manipulator scenario, set up the stack once — see movensys-manipulator Setup.

Supported Configurations#

Framework support:

Demo Scenario

ROS2 Humble

ROS2 Jazzy

Isaac ROS 3.2

Isaac ROS 4.1

Joint trajectory motion

✓

✓

✓

✓

AprilTag pick and place

✓

✓

✓

✓

Obstacle avoidance

✓

✓

AprilTag pick and place with obstacle avoidance

✓

✓

Robopoly game

✓

✓

✓

✓

Robot platform support:

Demo Scenario

Dobot CR3A

Dobot CR5A

Joint trajectory motion

✓

✓

AprilTag pick and place

✓

Obstacle avoidance

✓

AprilTag pick and place with obstacle avoidance

✓

Robopoly game

✓

Development Roadmap#

The examples are under active development. Planned and in-progress work is tracked below.

2026 Q1

2026 Q2

2026 Q3

  • Add WMX3 general node

  • Add trajectory example

  • Add Apriltag example

  • Add movensys_isaac_manipulator

  • Add movensys_intel_manipulator

  • Add movensys_thor_manipulator

  • Add robotic_isaac_sim

  • Add Apriltag example

  • Support arm64/amd64

  • Support ROS2 humble/jazzy

  • Support dobot cr3a/cr5a

  • Add Joint Trajectory Controller node

  • Add Gripper Controller node

  • Add movensys-manipulator

  • Add movensys-simulation

  • Add movensys-intelligence

  • Add Apriltag + Obstacle avoidance example

  • Add Robopoly example

  • Delete robotic_isaac_sim

  • Delete movensys_isaac_manipulator

  • Delete movensys_intel_manipulator

  • Delete movensys_thor_manipulator

  • Add Differential node

  • Add movensys-navigation

  • Add VLA example

  • Add Diffbot in isaacsim

  • Add differential drive controller node

  • Add robot option node

  • ros2_control integration