r2d2 (ros2dorna2) - set of ROS2 packages which provide support for Dorna2 robotic arm.

r2d2_control package contains ROS2 Joint Trajectory Controller node for Dorna2 robotic arm.

NOTE: This is unofficial Dorna ROS2 package. For official Dorna software follow https://dorna.ai/

Prereq

• Java 22

Build

First build Java part:

gradle clean build

Then build ROS part:

cd <ROS WORKSPACE>
colcon build
source install/setup.zsh

Run

ros2 launch sainsmart-simulator simulate_launch.py

Contacts

aeon_flux aeon_flux@eclipso.ch