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arm_api2 is a ROS 2-based API that provides unified control interface for robot manipulators. This guide will help you get started quickly.
# Clone the repository
git clone git@github.com:CroboticSolutions/docker_files.git
# Navigate to arm_api2 directory
cd ./docker_files/ros2/humble/arm_api2
# Pull and run Docker container
./pull_and_run_docker.sh
# Start robot simulation
<robot_name>_simAfter following this guide, you'll be able to control any supported robot manipulator using the same API interface, regardless of the manufacturer.
The easiest way to get started is using our pre-configured Docker containers:
# Clone the repository
git clone git@github.com:CroboticSolutions/docker_files.git
cd docker_files/ros2/humble/arm_api2
# Make the script executable
chmod +x pull_and_run_docker.sh
# Run the setup
./pull_and_run_docker.shFor advanced users who prefer manual installation:
# Install ROS 2 Humble
sudo apt update
sudo apt install ros-humble-desktop
# Clone arm_api2 repository
git clone git@github.com:CroboticSolutions/arm_api2.git
cd arm_api2
# Build the workspace
colcon build --symlink-install
# Source the workspace
source install/setup.bash[Add specific system requirements and dependencies here]
# [Add actual launch commands for different robots]
ros2 launch arm_api2 [robot_specific_launch_file]#!/usr/bin/env python3
# [Replace with actual arm_api2 Python examples]
import rclpy
from arm_api2 import [ActualClassName]
def main():
rclpy.init()
# Initialize robot arm
robot = [ActualClassName]()
# [Add actual API method calls]
# robot.actual_method_name()
rclpy.shutdown()
if __name__ == '__main__':
main()// [Replace with actual arm_api2 C++ examples]
#include "arm_api2/[actual_header_file].hpp"
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
// [Add actual C++ implementation]
rclcpp::shutdown();
return 0;
}Please provide documentation for:
Problem: [Description of problem]
Solution:
Problem: [Description of problem]
Solution:
# [Add actual troubleshooting commands]UR3, UR5, UR10, UR16
[Update Status]Panda, FR3
[Update Status][Specify supported models]
[Update Status][Add other supported robots]
[Update Status]Please provide:
Please provide:
Please provide:
Please provide actual API documentation including:
[MainAPIClass][Description of main class]
[method_name]([parameters]) -> [return_type]
[Method description]
[param_name]: [description]Please provide real code examples for:
# [Replace with actual working example]
# This should be a real, tested code example# [Replace with actual working example]
# This should be a real, tested code exampleWe welcome contributions to arm_api2! Here's how you can help:
# Fork the repository on GitHub
git clone https://github.com/YOUR_USERNAME/arm_api2.git
cd arm_api2
# [Add actual development setup steps]
# Run tests
[actual test command]Please provide: