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

r2d2_servo package contains MoveIt2 Servo node for Dorna2 robotic arm.

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

Build

Build Dorna2 controller:

cd r2d2_control
gradle clean build

Build ROS packages:

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

Run

ros2 launch r2d2_servo servo_launch.py

Edit "servo_launch.py" in order to change Dorna controller default settings.

Documentation

• r2d2

Contacts

aeon_flux aeon_flux@eclipso.ch