ROS 2 Hardware Integration & Robotic Arm Bring-Up
Built a complete ROS 2-to-hardware control path for a physical robotic arm, integrating higher-level robot software with embedded firmware and physical actuation.
- ROS 2
- C++
- ros2_control
- MCU Firmware
- MoveIt 2
Physical demo video coming soon01
What it does
Built a complete ROS 2-to-hardware control path for a physical robotic arm, integrating higher-level robot software with embedded firmware and physical actuation.
The system connects ROS 2 trajectory commands through a C++ hardware layer, serial protocol and MCU firmware to bounded servo control, while exposing robot state, TF, diagnostics and safety behaviour back into the ROS 2 environment.
The integration includes bounded joint commands, malformed-command rejection, communication timeouts, watchdog behaviour, diagnostics, calibration management and defined behaviour on communication loss.
Open-loop state
The arm does not provide encoder-based joint-position feedback. ROS joint state therefore represents the last accepted commanded estimate rather than verified physical proprioception.
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Demonstrations
Capture pending
Capture pending
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Capture pending03
System overview
Control path
- ROS 2
- C++ Hardware Interface / ros2_control
- joint_trajectory_controller
- Serial Protocol
- MCU Firmware
- Servo Control
- Physical Motion
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Technology
- ROS 2
- C++
- ros2_control
- joint_trajectory_controller
- Serial
- MCU Firmware
- URDF / Xacro
- TF
- robot_state_publisher
- /joint_states
- MoveIt 2
- Watchdogs
- Diagnostics
Next project
04 — Autonomous Delivery Robotics