Packages

This section provides an overview of the main ROS 2 packages included in the Doosan Robotics integration stack. Each package serves a distinct role within the architecture, from hardware control to motion planning and simulation.

dsr_bringup2

Launch management package for starting real or virtual robots. Includes integrated launch files for RViz2, MoveIt 2, and Gazebo. Supports configurable launch arguments (e.g., mode, model, host, port) for flexible deployment.

dsr_common2

Provides shared utilities and communication layers across all Doosan packages. Integrates the Doosan Robot Framework Library (DRFL) for command-level control, I/O access, and state monitoring. Also includes service callbacks, namespace utilities, and logging support.

dsr_controller2

Defines custom ROS 2 controllers (dsr_controller2, dsr_joint_trajectory, etc.) using ControllerInterface. Acts as a bridge between ROS 2 control logic and Doosan’s native DRFL command interface.

dsr_description2

Contains robot model definitions (URDF/Xacro), 3D meshes, and SRDF files. Required for RViz2 visualization, MoveIt 2 planning, and simulation environments.

dsr_example2

Includes Python and C++ sample scripts demonstrating motion commands, tool usage, and error handling. Useful for learning DRFL workflows and API usage.

dsr_hardware2

Implements a custom ros2_control hardware interface as a SystemInterface plugin. Handles read() and write() cycles to synchronize joint states and commands with the robot or emulator.

dsr_msgs2

Defines Doosan-specific ROS 2 message and service types. Enables fine-grained robot and tool control (e.g., GetToolForce, SetDigitalOutput).

dsr_tests

Provides test nodes, launch tests, and regression checks. Supports continuous integration and system validation with MoveIt 2 or Gazebo.

dsr_moveit_config_{model}

Auto-generated MoveIt 2 configuration packages for each robot model. Includes planning pipeline setup, controller configurations, kinematics plugins, OMPL settings, and RViz2 presets.

dsr_gazebo2

Provides Gazebo simulation support with Harmonic plugin integration. Includes robot spawners, world files, and dynamic simulation components for testing without hardware.

Note

Package names ending in 2 indicate compatibility with ROS 2 Jazzy and later. These are not compatible with ROS 1 or earlier ROS 2 distributions.