RBY1 MoveIt2¶

RBY1 Hardware And RBY1 Moveit¶

The rby1_hardware package provides a ros2_control SystemInterface plugin (rby1_hardware/RBY1SystemHardware) that bridges the RBY1 SDK to MoveIt 2 via the standard ros2_control pipeline.
Each rby1_moveit_* package contains the complete MoveIt 2 configuration (SRDF, kinematics, joint limits, controller configs) for a specific model and version.

Available MoveIt Packages¶

Package	Model	Version
`rby1_moveit_a_1_0`	RBY1-A	1.0
`rby1_moveit_a_1_1`	RBY1-A	1.1
`rby1_moveit_a_1_2`	RBY1-A	1.2
`rby1_moveit_m_1_0`	RBY1-M	1.0
`rby1_moveit_m_1_1`	RBY1-M	1.1
`rby1_moveit_m_1_2`	RBY1-M	1.2
`rby1_moveit_m_1_3`	RBY1-M	1.3

Launch MoveIt with Real Hardware¶

[!IMPORTANT] Real hardware mode requires rby1_driver to be running first.
RBY1SystemHardware claims hardware control from the driver via the /hardware_control service on activation. Please check robot ip & model in rby1_driver/config/driver_parameters.yaml After check, please change ip in demo.launch.py

[!WARNING] Version mismatch risk: The rby1_hardware plugin cannot verify the connected robot’s version at runtime.
If the rby1_moveit_* package version does not match the actual robot’s version, MoveIt and the robot may be activated with different joint/kinematic configurations, which could cause unexpected commands to be sent to the robot.
Always ensure the rby1_moveit_* package version matches the robot’s version before launching with real hardware.

Step 1 — Start the driver (first terminal):

source install/setup.bash
ros2 launch rby1_driver rby1_ros2_driver.launch.py

Step 2 — Launch MoveIt (second terminal), selecting the package that matches your model and version:

# open another terminal
source install/setup.bash

# Real hardware (default: use_fake_hardware:=false)
ros2 launch rby1_moveit_m_1_2 demo.launch.py

# With a custom robot IP
ros2 launch rby1_moveit_m_1_2 demo.launch.py robot_ip:=192.168.30.1:50051

# Fake hardware / simulation (no real robot required)
ros2 launch rby1_moveit_m_1_2 demo.launch.py use_fake_hardware:=true

Replace rby1_moveit_m_1_2 with the package matching your robot.

Launch Arguments¶

Argument	Default	Description
`use_fake_hardware`	`false`	`true` = `mock_components/GenericSystem` (no robot needed); `false` = `RBY1SystemHardware` (real robot)
`robot_ip`	`127.0.0.1:50051`	RBY1 SDK gRPC address and port
`model`	`m` or `a`	Robot model type passed to the hardware plugin
`driver_namespace`	`rby1`	Top-level namespace of the robot driver node, topics, and services.

ros2_control Controllers¶

Each MoveIt package spawns the following controllers:

Controller	Type	Controlled Joints
`right_arm_controller`	`JointTrajectoryController`	right_arm_0 ~ ee_right
`left_arm_controller`	`JointTrajectoryController`	left_arm_0 ~ ee_left
`torso_controller`	`JointTrajectoryController`	base ~ torso_5
`head_controller`	`JointTrajectoryController`	head_0, head_1
`gripper_r_controller`	`GripperActionController`	gripper_finger_r1_joint
`gripper_l_controller`	`GripperActionController`	gripper_finger_l1_joint
`both_arms_controller`	`JointTrajectoryController`	All arm joints (left + right)
`body_controller`	`JointTrajectoryController`	Torso + Head + Both Arms