Overview

robot_series

Purpose

This package provides control functionality for all Doosan robot models in the ROS 2 Humble environment.

Features

  • Supports all Doosan robot models (A/M/H/E/P series)

  • Virtual emulator mode for development and testing without hardware

  • Integrated DRFL (Doosan Robot Framework Library) for direct command-level access

  • Optional real-time control interface for low-latency communication

  • Pre-configured launch files for RViz2, Gazebo, and MoveIt 2

  • MoveIt 2 integration for motion planning and manipulation tasks

  • Gazebo Harmonic simulation support for dynamic testing and validation

  • RViz2-based robot state visualization and planning preview

  • Includes sample applications and demo scripts for quick setup and usage

License

All packages are distributed under Apache License 2.0. See the LICENSE file for details.

Architecture

Packages