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WMX ROS2 Documentation

  • GitHub
  • GitHub

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
  • Getting Started

Getting Started#

This guide walks you through the complete setup — from system requirements to launching your first robot control session with WMX ROS2.

Follow the steps in order. At step 6 choose the path that matches your setup (simulation or physical robot).

Getting Started — step-by-step flow

Getting Started — step-by-step flow#

On this page

System Requirements
Install ROS2
Install Dependencies
Create Workspace and Build
Configure Environment
Testing in Simulation
Testing with Real Robot
Communication Overview

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System Requirements

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