# ros2_kortex **Repository Path**: mirror-rmf/ros2_kortex ## Basic Information - **Project Name**: ros2_kortex - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: Humble_Gazebo_Classic_Support - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2025-04-23 - **Last Updated**: 2025-04-23 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # ROS 2 Kortex > Kinova® Kortex™ is the common software platform behind all of the products in the Gen3 family (Gen3 and Gen3 lite). It unifies the inner workings of the various robots and their related external tools, like the API.
> https://www.kinovarobotics.com/product/gen3-robots
Kinova Gen3 7DoF manipulator with Intel RealSense 3D Vision Module and Robotiq 2F-85 2 Finger 85mm Adaptive Gripper
ROS2 Kortex is the official ROS2 package to interact with Kortex and its related products. It is built upon the Kortex API, documentation for which can be found in the [GitHub Kortex repository](https://github.com/Kinovarobotics/kortex). ## Build status
ROS 2 Distro Humble Iron Rolling
Branch main main main
Build Status Humble Binary Build Iron Binary Build Rolling Binary Build
Release Status coming soon coming soon coming soon
**Note:** There are several CI jobs checking against future upstream changes see [detailed build status](.github/workflows/README.md) for a full list of CI jobs and for more information. ## Getting started 1. Install ROS 2. If you're a developer, we recommend using Rolling to get the latest features and fixes. Rolling Release: [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)
Latest Release: [Install ROS2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html)
Stable LTS Release: [Install ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) After installing a version of ROS, source the setup.bash, which will set the `$ROS_DISTRO` environment variable. 2. Install this package from binary ``` sudo apt install ros-$ROS_DISTRO-kortex-bringup ``` 3. Optional: install MoveIt Configuration and Cyclone DDS If you have a 7dof arm: ``` sudo apt install ros-$ROS_DISTRO-kinova-gen3-7dof-robotiq-2f-85-moveit-config ``` If you have a 6dof arm: ``` sudo apt install ros-$ROS_DISTRO-kinova-gen3-6dof-robotiq-2f-85-moveit-config ``` If you plan to use MoveIt, it is recommended to install and use Cyclone DDS. ``` sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ``` 4. Go to Usage section ## Contributing to this repository or building from source Note: It is recommended to use a released binary version of this package and apt install it. If you want the latest version of this repository for testing latest fixes check out testing with pre-released binaries: https://docs.ros.org/en/rolling/Installation/Testing.html If the bug fix you need isn't in a released version or If you want to build this repository from source or contribute back to the repository read on. 1. Make sure that `colcon`, its extensions, and `vcs` are installed: ``` sudo apt install python3-colcon-common-extensions python3-vcstool ``` 2. Create a new ROS2 workspace: ``` export COLCON_WS=~/workspace/ros2_kortex_ws mkdir -p $COLCON_WS/src ``` 3. Pull relevant packages: ``` cd $COLCON_WS git clone -b Humble_Gazebo_Classic_Support --single-branch https://github.com/Kinovarobotics/ros2_kortex.git src/ros2_kortex vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex.$ROS_DISTRO.repos vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex-not-released.$ROS_DISTRO.repos ``` If you plan on simulating the robot with ignition or gazebo, first install the simulator using the following commands: ``` sudo apt-get update && sudo apt-get install wget sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt-get update && sudo apt-get install ignition-fortress ``` Then make sure to pull the additional simulation packages. If you're on ROS2 Humble, run: ``` vcs import src --skip-existing --input src/ros2_kortex/simulation.humble.repos ``` otherwise ``` vcs import --skip-existing --input src/ros2_kortex/simulation.repos ``` If you plan on using MoveIt, you must make sure that you have it already [installed](https://moveit.ros.org/install-moveit2/binary/) either from binaries or by building it from source. If you plan on simulating the Gen3 7Dof robot mounted on the Husky mobile robot from clearpath, make sure to pull the additional related packages. On ROS2 Humble, run ``` vcs import src --skip-existing --input src/ros2_kortex/clearpath.repos ``` 4. Install dependencies, compile, and source the workspace: ``` rosdep install --ignore-src --from-paths src -y -r colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ``` By default, colcon will use as much resources as possible to build the ROS2 workspace. This can temporarily freeze or even crash your machine. You can limit the number of threads used to avoid this issue, we found a good tradeoff between build time and resource utilisation by setting it to 3 : ``` colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 3 ``` 5. Source the previously built workspace using the following command: ``` echo 'source ~/workspace/ros2_kortex_ws/install/setup.bash' >> ~/.bashrc ``` ## Simulation Issues Please note, at this time there are two known issues you with simulation 1. Gazebo + Mimic Joints for the Robotiq Gripper 2. Protobuf version mismatch # Gazebo and Mimic Joints A pull request has been made to gz_ros2_control which is how this repository was tested in simulation. The pull request won't be merged as the fix should be done upstream in gz-sim. Once a fix is available ros2_robotiq_gripper will be re-released and an update should fix any workarounds. In the meantime if you need simulation checkout the upstream pull request link: - Upstream Issue: https://github.com/gazebosim/gz-sim/issues/1684 - Upstream Pull Request: https://github.com/ros-controls/gz_ros2_control/pull/86 - Tracking Issue: https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/7 # Protobuf Due to mismatched protobuf version that ships system and used by Gazebo simulator compiling twice may be required. You will only run into this if you have certain other gazebo related code in your workspace while compiling this repository. If errors are encounter you must clean your workspace and run colcon build in two steps: 1. build everything except kortex related packages 2. build the packages that where skipped ``` sudo apt install python3-colcon-clean # if you don't have colcon-clean installed already colcon clean workspace -y colcon build --packages-skip-regex '.*kortex.*' '.*gen3.*' colcon build --packages-select-regex '.*kortex.*' '.*gen3.*' ``` ## Usage To launch and view any of the robot's URDF run: ```bash ros2 launch kortex_description view_robot.launch.py ``` The accepted arguments are: * `robot_type` : Your robot model. Possible values are either `gen3` or `gen3_lite`, the default is `gen3`. * `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85` or `robotiq_2f_140`. For the Gen3 Lite, the only option is `gen3_lite_2f`. Default value is an empty string, which will display the arm without a gripper. * `dof` : Degrees of freedom of the arm. Possible values for the Gen3 are either `6` or `7`. For the Gen3 Lite, the only option is `6`. Default value is `7`. ### Gen 3 Robots The `gen3.launch.py` launch file is designed to be used for Gen3 arms. The typical use case to bringup and visualize the 7 DoF Kinova Gen3 robot arm (default) with mock hardware on Rviz: ```bash ros2 launch kortex_bringup gen3.launch.py \ robot_ip:=yyy.yyy.yyy.yyy \ use_fake_hardware:=true ``` Alternatively, for a physical robot: ```bash ros2 launch kortex_bringup gen3.launch.py \ robot_ip:=192.168.1.10 ``` You can specify the following arguments if you wish to change your arm configuration: * `robot_type`: Your robot model. Default value (and only one) is `gen3`. * `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `""`. An empty string will not initialise any gripper. * `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value is `robotiq_85_left_knuckle_joint`. * `use_internal_bus_gripper_comm` : Use internal bus for gripper communication. Default value is `true`. * `gripper_max_velocity` : Max velocity for gripper commands. Default value is `100.0`. * `gripper_max_force` : Max force for gripper commands. Default value is `100.0`. * `dof` : Degrees of freedom of the arm. Possible values are either `6` or `7`.Default value is `7`. * `robot_ip` : IP address by which the robot can be reached. No default is specified, this is a required argument. All arms are shipped with address `192.168.1.10`, but if you have reassigned your physical arm's robot IP address, then you will need to assign that ip address. * `use_fake_hardware` : Start robot with fake hardware mirroring command to its states. Default value is `false`. * `fake_sensor_commands` : Enable fake command interfaces for sensors used for simple simulations. Used only if 'use_fake_hardware' parameter is true. Default value is `false`. * `robot_controller` : Robot controller to start. Possible values are `twist_controller` and `joint_trajectory_controller`.Default value is `joint_trajectory_controller`. * `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` * `launch_rviz` : Start an Rviz window to visualize the robot. Default value is `true`. ### Gen 3 Lite Robot The `gen3_lite.launch.py` launch file is designed to be used for Gen3 Lite arms. The typical use case to bringup the robot arm with mock hardware: ```bash ros2 launch kortex_bringup gen3_lite.launch.py \ robot_ip:=yyy.yyy.yyy.yyy \ use_fake_hardware:=true ``` Alternatively, if you wish to use the physical robot: ```bash ros2 launch kortex_bringup gen3_lite.launch.py \ robot_ip:=192.168.1.10 \ ``` You can specify the following arguments if you wish to change your arm configuration: * `robot_type`: Your robot model. Default value (and only one) is `gen3_lite`. * `gripper` : Gripper to use. Default value (and only one) is `gen3_lite_2f`. * `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value (and only one) is `right_finger_bottom_joint`. * `use_internal_bus_gripper_comm` : Use internal bus for gripper communication. Default value is `true`. * `gripper_max_velocity` : Max velocity for gripper commands. Default value is `100.0`. * `gripper_max_force` : Max force for gripper commands. Default value is `100.0`. * `robot_ip` : IP address by which the robot can be reached. No default is specified, this is a required argument. All arms are shipped with address `192.168.1.10`, but if you have reassigned your physical arm's robot IP address, then you will need to assign that ip address. If you're using an USB to Ethernet interface to connect your robot to your machine instead of USB via RNDIS, the ip address will be `192.168.2.10`. * `use_fake_hardware` : Start robot with fake hardware mirroring command to its states. Default value is `false`. * `fake_sensor_commands` : Enable fake command interfaces for sensors used for simple simulations. Used only if 'use_fake_hardware' parameter is true. Default value is `false`. * `robot_controller` : Robot controller to start. Possible values are `twist_controller` and `joint_trajectory_controller`.Default value is `joint_trajectory_controller`. * `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` * `description_file` : URDF/XACRO description file with the robot. Default value is `gen3_lite_gen3_lite_2f.xacro`. * `launch_rviz` : Start an Rviz window to visualize the robot. Default value is `true`. ## Simulation The `kortex_sim_control.launch.py` launch file is designed to simulate all of our arm models, you just need to specify your configuration through the arguments. By default, the Gen3 7 dof configuration is used : ```bash ros2 launch kortex_bringup kortex_sim_control.launch.py \ use_sim_time:=true \ launch_rviz:=false ``` * `sim_ignition` : Use Ignition for simulation. Default value is `true`. * `sim_gazebo` : Use Gazebo Classic for simulation. Default value is `false`. * `robot_type` : Your robot model. Possible values are either `gen3` or `gen3_lite`.Default is `gen3`. * `robot_name` : Name you would like your robot to have. Default value is `gen3`. * `dof` : Degrees of freedom of the arm. Possible values are either `6` or `7`.Default value is `7`. * `vision` : Use arm mounted realsens. Possible values are either `true` or `false`. Default value is `false`. This option does not generate simulated images, it only loads up the robot's URDF that includes the vision link. * `robot_controller` : Robot joint controller to start. Default value is `joint_trajectory_controller`. * `robot_pos_controller` : Robot position controller to start. Default value is `twist_controller`. * `robot_hand_controller` : Robot gripper controller to start. Default value is `robotiq_gripper_controller`. * `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` * `description_package` : Description package with robot URDF/XACRO files. Default value is `kortex_description`. * `description_file` : URDF/XACRO description file with the robot. Default value is `kinova.urdf.xacro`. * `prefix` : Prefix of the joint names, useful for multi-robot setup. If changed, then also joint names in the controllers' configuration have to be updated. Default value is `""` (none). * `use_sim_time` : Use simulated clock. Default value is `true`. * `gripper` : Gripper to use. Possible values for the Gen3 are: `robotiq_2f_85`, `robotiq_2f_140`, `""` and `gen3_lite_2f` and the default value is `""` which will not initialise any gripper. #### MoveIt2 To generate motion plans and execute them with virtual arm hardware: 1. For a 6 DoF Kinova Gen3 arm, run the following: ```bash ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=yyy.yyy.yyy.yyy \ use_fake_hardware:=true ``` 2. For a 7 DoF Kinova Gen3 arm, run the following: ```bash ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=yyy.yyy.yyy.yyy \ use_fake_hardware:=true ``` To generate motion plans and execute them with real-life hardware: 1. For a 6 DoF Kinova Gen3 arm with default IP address, run the following: ```bash ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=192.168.1.10 ``` 2. For a 7 DoF Kinova Gen3 arm with default IP address, run the following: ```bash ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=192.168.1.10 ``` 3. For a Gen3-Lite arm with default IP address and connected through USB, run the following: ```bash ros2 launch kinova_gen3_lite_moveit_config robot.launch.py \ robot_ip:=192.168.2.10 ``` To generate motion plans and execute them in simulation, make sure to first start the simulated robot with the command at the [simulation](#simulation) section, then: 1. For a 6 DoF Kinova Gen3 arm, run the following: ```bash ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config sim.launch.py \ use_sim_time:=true ``` 2. For a 7 DoF Kinova Gen3 arm, run the following: ```bash ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py \ use_sim_time:=true ``` 3. For a Gen3-Lite arm, run the following: ```bash ros2 launch kinova_gen3_lite_moveit_config sim.launch.py \ use_sim_time:=true ``` ## Commanding the arm (physically and in simulation) You can command the arm by publishing Joint Trajectory messages directly to the joint trajectory controller with joint positions are in **radians**: ```bash ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7], points: [ { positions: [0, 0, 0, 0, 0, 0, 0], time_from_start: { sec: 10 } }, ] }" -1 ``` Depending on your robot type and its DoF, you will need to adapt the `joint_names` and `positions` properties accordingly. For the Gen3 Lite arm, the integrated gripper is considered as a joint, so to command it, it must be included in the `joint_names` array. (`0.0=open`, `1.0=close`): ```bash ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, right_finger_bottom_joint], points: [ { positions: [0, 0, 0, 0, 0, 0, 1], time_from_start: { sec: 10 } }, ] }" -1 ``` You can also command the arm using Twist messages. Before doing so, you must active the `twist_controller` and deactivate the `joint_trajectory_controller`: ```bash ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{ activate_controllers: [twist_controller], deactivate_controllers: [joint_trajectory_controller], strictness: 1, activate_asap: true, }" ``` **Note: the required interface for the `twist_controller` does not currently exist in the gazebo or mock hardware simulation setups. So the `twist_controller` is currently only functional on Kinova hardware.** Once the `twist_controller` is activated, You can publish Twist messages on the `/twist_controller/commands` topic to command the arm. For example, you can jog the arm using [Teleop Twist Keyboard](https://index.ros.org/p/teleop_twist_keyboard/github-ros2-teleop_twist_keyboard/) with the following command: **WARNING: you are responsible for collision checking, including self collisions when in this mode.** ```bash ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/twist_controller/commands ``` If you wish to use the `joint_trajectory_controller` again to command the arm using JointTrajectory messages, run the following: ```bash ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{ activate_controllers: [joint_trajectory_controller], deactivate_controllers: [twist_controller], strictness: 1, activate_asap: true, }" ``` #### Robotiq gripper The Robotiq 2f 85 (or 2f 140) Gripper will be available on the Action topic: ```bash /robotiq_gripper_controller/gripper_cmd ``` You can test the gripper by calling the Action server with the following command and setting the desired `position` of the gripper (`0.1=open`, `0.7=close`) ```bash ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}" ``` #### Vision Module In order to access the Kinova Vision module's depth and color streams for the camera-equipped Gen3 arm models, please refer to the following github repository for detailed instructions: [ros2_kortex_vision](https://github.com/Kinovarobotics/ros2_kortex_vision) ## Contents The following is a description of the packages included in this repository. ### kortex_description This package contains the URDF (Unified Robot Description Format), STL and configuration files for the Kortex-compatible robots. For more details, please consult the [README](kortex_description/readme.md) from the package subdirectory. ### kortex_driver This package implements a ROS node that allows communication between a node and a Kinova Gen3 or Gen3 lite robot. For more details, please consult the [README](kortex_driver/readme.md) from the package subdirectory. ### kortex_moveit_config This metapackage contains the auto-generated MoveIt! files to use the Kinova Gen3 and Gen3 lite arms with the MoveIt! motion planning framework. For more details, please consult the [README](kortex_moveit_config/readme.md) from the package subdirectory.