ROS2 Open Source Packages


To use any of these packages, you must already have ROS2 and the X-Series Arm packages installed. If you do not have these installed, follow the steps detailed in the ROS2 Interface Setup.

Below is a list of all ROS2 packages meant to be used with the X-Series robotic arms sold by Trossen Robotics. Packages were tested on Ubuntu Linux 20.04 using ROS2 Galactic. Additionally, all ROS2 nodes were written using Python or C++. However, any programming language capable of sending ROS2 messages can be used to control the robots. The core packages inside this repo are as follows:

There are also several packages demonstrating possible applications of the core packages. A list of those packages is below in order of importance: