Doosan Robotics ROS2 Manual
Overview
Architecture
Controller Manager (CM)
Controllers
User Interfaces
Hardware Components
Packages
dsr_bringup2
dsr_common2
dsr_controller2
dsr_description2
dsr_example2
dsr_hardware2
dsr_msgs2
dsr_mujoco
dsr_tests
dsr_moveit_config_{model}
dsr_gazebo2
Installation
Prerequisites
Required Dependencies
Workspace & Package Setup
Emulator Setup (Optional)
Build the Package
Test the Installation
Devcontainer installation(Optional)
Tutorials
Launch Parameters
mode
name
host
port
model
color
gui
gz
rt_host
Operation Modes
Virtual Mode
Real Mode
Basic Tutorials
RViz2 Launch
Command
Arguments
Examples
Gazebo Simulation
Command
Arguments
Examples
Multi-Arm Simulation
References
MoveIt2 Integration
Command
Arguments
Examples
Motion Execution Demo
Advanced Tutorials
DSR_ROBOT2 Python Library Tutorial
Overview
Architecture
Quick Start
Setup and Launch
References
Launch with MuJoCo
Overview
Prerequisites
Command
Arguments
Example
Customizing the MuJoCo Environment
Gripper Operation
References
Topics
RobotState
RobotStop
RobotError
LogAlarm
ModbusState
JogMultiAxis
ServojRtStream
ServojStream
ServolRtStream
ServolStream
SpeedjRtStream
SpeedjStream
SpeedlRtStream
SpeedlStream
TorqueRtStream
AlterMotionStream
RobotStateRt
RobotDisconnection
Services
aux_control Services
GetControlMode
GetControlSpace
GetCurrentPosj
GetCurrentPosx
GetCurrentRotm
GetCurrentSolutionSpace
GetCurrentToolFlangePosx
GetCurrentVelj
GetCurrentVelx
GetDesiredPosj
GetDesiredPosx
GetDesiredVelj
GetDesiredVelx
GetExternalTorque
GetJointTorque
GetOrientationError
GetSolutionSpace
GetToolForce
drl Services
DrlStart
DrlStop
DrlPause
DrlResume
GetDrlState
force Services
AlignAxis1
AlignAxis2
CalcCoord
CheckForceCondition
CheckOrientationCondition1
CheckOrientationCondition2
CheckPositionCondition
CoordTransform
GetUserCartCoord
GetWorkpieceWeight
IsDoneBoltTightening
OverwriteUserCartCoord
ParallelAxis1
ParallelAxis2
ReleaseComplianceCtrl
ReleaseForce
ResetWorkpieceWeight
SetDesiredForce
SetStiffnessx
SetUserCartCoord1
SetUserCartCoord2
SetUserCartCoord3
TaskComplianceCtrl
gripper Services
Robotiq2FMove
Robotiq2FOpen
Robotiq2FClose
SerialSendData
io Services
SetCtrlBoxDigitalOutput
GetCtrlBoxDigitalOutput
GetCtrlBoxDigitalInput
SetToolDigitalOutput
GetToolDigitalOutput
GetToolDigitalInput
SetCtrlBoxAnalogOutput
SetCtrlBoxAnalogInputType
SetCtrlBoxAnalogOutputType
GetCtrlBoxAnalogInput
modbus Services
ConfigCreateModbus
ConfigDeleteModbus
GetModbusInput
SetModbusOutput
Motion Services
Trans
Fkin
Ikin
SetRefCoord
MoveJoint
MoveJointx
MoveLine
MoveCircle
MoveSplineJoint
MoveSplineTask
MoveBlending
MoveSpiral
MovePeriodic
MoveWait
MovePause
MoveResume
MoveStop
Jog
JogMulti
CheckMotion
ChangeOperationSpeed
EnableAlterMotion
AlterMotion
DisableAlterMotion
SetSingularityHandling
MoveHome
Real-time Services
ConnectRtControl
DisconnectRtControl
GetRtControlInputDataList
GetRtControlInputVersionList
GetRtControlOutputDataList
GetRtControlOutputVersionList
ReadDataRt
SetAccjRt
SetAccxRt
SetRtControlInput
SetRtControlOutput
SetVeljRt
SetVelxRt
StartRtControl
StopRtControl
WriteDataRt
system Services
GetRobotMode
SetRobotMode
GetRobotSystem
SetRobotSystem
GetRobotSpeedMode
SetRobotSpeedMode
SetSafeStopResetType
SetSafetyMode
GetCurrentPose
GetLastAlarm
ChangeCollisionSensitivity
GetRobotState
ServoOff
SetRobotControl
tcp Services
ConfigCreateTcp
ConfigDeleteTcp
GetCurrentTcp
SetCurrentTcp
tool Services
ConfigCreateTool
ConfigDeleteTool
GetCurrentTool
SetCurrentTool
SetToolShape
Additional Resources
Python API
External Links
Changelog
Update Timeline
FAQ
AMENT_PREFIX_PATH Path Error
1. Error Case
2. Root Cause Analysis
3. Solution
DR_init Import Issue
1. Error Case
2. Root Cause Analysis
3. Solution
Policy and Notice
Legal Notice
Limitations of Use
Indemnity
Limitation of Liability
About Doosan Robotics
Cookie Policy
1. In General
2. Cookies
3. Contact
OSS Notice
Terms of Use
Limitations of Use
Links to External Sites
External Links to this Site
User-Provided Information
Refusal to Collect Unauthorized Email Addresses
Laws in the User’s Country
Changes
Doosan Data Protection Policy
1. In General
2. Types of Personal Data We Process
3. Purposes for Processing
4. Legal Basis for Processing
5. Recipients
6. Location and Transfer
7. Quality Assurance
8. Data Retention
9. Your Rights
10. Withdrawal of Consent
11. Contact
Doosan Robotics ROS2 Manual
Additional Resources
View page source
Additional Resources
reference resource or pages:
Python API
External Links
Gazebo multi arm demo video
humble
Versions
jazzy
humble