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Table of Contents
Contents
Getting Started
System Requirements
WMX Motion Control Engine
Operating System
ROS2 Distribution
Hardware Requirements
Supported Models & Platforms
Install ROS2
ROS2 Humble (Ubuntu 22.04)
ROS2 Jazzy (Ubuntu 24.04)
Verify ROS2
Install Dependencies
Verify LMX(WMX Runtime) Installation
Create Workspace and Build
Configure Environment
Verify Installation
Testing in Simulation
Test the General Node (Standalone)
Publish Simulated Joint States
Simulation Environments
Testing with Real Robot
Prerequisites
EtherCAT Wiring
Configuration
Launch Commands
Startup Sequence
Verifying the Connection
Gripper Control
Shutdown
Communication Overview
Packages
wmx_ros2_message
Overview
Package Structure
Dependencies
Message Definitions
AxisPose
AxisVelocity
AxisState
Service Definitions
SetEngine
SetAxis
SetAxisGearRatio
Building the Package
wmx_ros2_package
Overview
Package Structure
Dependencies
Package Dependencies (package.xml)
CMake Dependencies (find_package)
WMX Libraries (External)
Nodes
manipulator_state
follow_joint_trajectory_server
wmx_engine_node
wmx_core_motion_node
wmx_io_node
wmx_ethercat_node
diff_drive_controller (Disabled)
Launch Files
wmx_ros2_multi_node.launch.py
wmx_ros2_intel_manipulator_cr3a.launch.py
wmx_ros2_orin_manipulator_cr3a.launch.py
wmx_ros2_diff_drive_controller.launch.py
Configuration Files
intel_manipulator_config_cr3a.yaml
orin_manipulator_config_cr3a.yaml
diff_drive_controller_config.yaml
WMX Parameter XML 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
Configuration files to create or modify
Steps to adapt
What stays the same
API Reference
ROS2 Services
Custom Service Types
Engine Management Services
/wmx/engine/set_device
/wmx/engine/set_comm
/wmx/engine/get_status
/wmx/engine/scan_network
Axis Control Services
/wmx/axis/set_on
/wmx/axis/clear_alarm
/wmx/axis/set_mode
/wmx/axis/set_polarity
/wmx/axis/set_gear_ratio
/wmx/axis/homing
Gripper Service
/wmx/set_gripper
I/O Services
/wmx/io/get_input_bit
/wmx/io/get_output_bit
/wmx/io/get_input_bytes
/wmx/io/get_output_bytes
/wmx/io/set_output_bit
/wmx/io/set_output_bytes
EtherCAT Diagnostic Services
/wmx/ecat/get_network_state
/wmx/ecat/register_read
/wmx/ecat/reset_statistics
/wmx/ecat/start_hotconnect
Service Call Workflow
Error Handling
See Also
ROS2 Topics
Custom Message Types
Published Topics
Engine Ready Signal
Joint State Feedback
Simulator Integration Topics
Axis State Monitoring
Subscribed Topics (Motion Commands)
/wmx/axis/velocity
/wmx/axis/position
/wmx/axis/position/relative
Differential Drive Topics (Optional)
/cmd_vel (Subscribed)
/cmd_vel_check (Published)
/velocity_controller/commands (Published)
/odom_enc (Published)
See Also
ROS2 Actions
FollowJointTrajectory
Goal
Result
Feedback
Execution Details
Example Usage
MoveIt2 Integration
See Also
Example Applications
Overview
Requirements
Isaac Sim Manipulator
Overview
Architecture
Prerequisites
Installation
Configuration
Usage
How It Connects to WMX ROS2
Intel Manipulator Integration
Overview
Architecture
Prerequisites
Installation
Configuration
Usage
How It Connects to WMX ROS2
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
Index
