I2RT ROS2 Jazzy Workspace

ROS2 Jazzy integration for I2RT robotics products (YAM arm, ARX-R5, Flow Base).

Overview

This workspace provides ROS2 interfaces for the I2RT Python API, enabling seamless integration with the ROS2 ecosystem while maintaining high-performance real-time control.

Packages

Package	Description
`i2rt_msgs`	Custom ROS2 message and service definitions
`i2rt_description`	URDF models, meshes, and robot descriptions
`i2rt_yam_driver`	ROS2 driver node for YAM 6-DOF robotic arm
`i2rt_flow_base_driver`	ROS2 driver node for Flow Base mobile platform
`i2rt_bringup`	Launch files and system configuration
`i2rt_teleop`	Teleoperation nodes (leader-follower, joystick)
`i2rt_examples`	Example launch files and demonstrations

System Requirements

OS: Ubuntu 24.04 (Noble Numbat)
ROS2: Jazzy Jalisco
Python: 3.11+
Hardware: CAN bus interface (CANable, PEAK, etc.)

Installation

1. Install ROS2 Jazzy

sudo apt update
sudo apt install ros-jazzy-desktop
sudo apt install ros-jazzy-ros2-control ros-jazzy-ros2-controllers
sudo apt install ros-jazzy-robot-state-publisher ros-jazzy-joint-state-publisher
sudo apt install ros-jazzy-xacro

2. Install I2RT Python API

cd /path/to/i2rt
uv venv --python 3.11
source .venv/bin/activate
sudo apt install build-essential python3-dev linux-headers-$(uname -r)
uv pip install -e .

3. Build ROS2 Workspace

cd ~/i2rt_ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
source install/setup.bash

Quick Start

Launch YAM Arm

# Terminal 1: Bring up YAM arm on can0
ros2 launch i2rt_bringup yam_bringup.launch.py can_channel:=can0 gripper_type:=crank_4310

# Terminal 2: Visualize in RViz
ros2 launch i2rt_bringup yam_rviz.launch.py

Launch Flow Base

ros2 launch i2rt_bringup flow_base_bringup.launch.py

Bimanual Teleoperation

ros2 launch i2rt_bringup bimanual_teleop.launch.py leader_channel:=can1 follower_channel:=can0

Hardware Setup

CAN Bus Configuration

# Bring up CAN interface
sudo ip link set can0 up type can bitrate 1000000

# Or use the provided script
sh /path/to/i2rt/scripts/reset_all_can.sh

Persistent CAN Device Names

For systems with multiple CAN interfaces, set persistent device names. See i2rt documentation.

Architecture

┌─────────────────────────────────────────┐
│         ROS2 Application Layer          │
│  (MoveIt2, Nav2, Custom Controllers)    │
└─────────────────┬───────────────────────┘
                  │
┌─────────────────▼───────────────────────┐
│       ROS2 Driver Nodes                 │
│  (i2rt_yam_driver, i2rt_flow_base)      │
└─────────────────┬───────────────────────┘
                  │
┌─────────────────▼───────────────────────┐
│       I2RT Python API (unchanged)       │
│  (MotorChainRobot, FlowBase)            │
└─────────────────┬───────────────────────┘
                  │
┌─────────────────▼───────────────────────┐
│       CAN Bus Communication             │
│  (DM Motor Drivers @ 250Hz)             │
└─────────────────────────────────────────┘

Control Frequencies

YAM Arm: 250 Hz (4ms cycle time)
Flow Base: 200 Hz (5ms cycle time)
Joint State Publishing: Same as control frequency
TF Broadcasting: Same as control frequency

Topics

YAM Arm

Topic	Type	Description
`/yam/joint_states`	sensor_msgs/JointState	Joint positions, velocities, efforts
`/yam/joint_command`	trajectory_msgs/JointTrajectory	Joint position commands
`/yam/gripper_command`	i2rt_msgs/GripperCommand	Gripper control
`/yam/motor_feedback`	i2rt_msgs/MotorFeedback	Motor temperatures, torques

Flow Base

Topic	Type	Description
`/flow_base/odom`	nav_msgs/Odometry	Base odometry
`/flow_base/cmd_vel`	geometry_msgs/Twist	Velocity commands

Services

Service	Type	Description
`/yam/set_gravity_compensation`	i2rt_msgs/SetGravityCompensation	Enable/disable gravity comp
`/yam/calibrate_gripper`	i2rt_msgs/CalibrateGripper	Calibrate linear gripper
`/flow_base/reset_odometry`	std_srvs/Trigger	Reset odometry to origin

Examples

See the i2rt_examples package for detailed demonstrations.

Troubleshooting

CAN Bus Not Found

# Check CAN devices
ls -l /sys/class/net/can*

# If not found, check USB connection and drivers
dmesg | grep can

Motor Timeout Errors

YAM motors have a 400ms watchdog by default. Disable if needed:

python i2rt/motor_config_tool/set_timeout.py --channel can0

Permission Denied on CAN

# Add user to dialout group
sudo usermod -a -G dialout $USER
# Log out and back in

Contributing

Contributions welcome! Please:

Fork the repository
Create a feature branch
Follow ROS2 coding standards
Submit a pull request

License

MIT License - See LICENSE file for details.

Support

I2RT API: support@i2rt.com
ROS2 Integration: GitHub Issues

Acknowledgments

I2RT - Hardware and Python API
ROS2 Jazzy - Robot Operating System

BirhanuShimelis/i2rt_ros2_jazzy