Reach Robotics Driver

Reach provides a C++ driver and ROS 2 interface for integrating Reach Robotics devices, including the Reach Alpha 5 and Reach Bravo 7 manipulators.

Main features

The main features of this project include:

• Integration of the Reach system communication protocol for hardware communication
• ros2_control integration for manipulator position, velocity, and torque control
• ROS 2 support for the Reach Robotics IP cameras
• Simulation support using Gazebo
• Integration of the dynamic parameters obtained by Reach Robotics

Installation

Reach is currently supported on Linux, and is available for the ROS distributions Jazzy and Rolling. To install the project, first clone this project to the src/ directory of your ROS 2 workspace, replacing $ROS_DISTRO with the desired ROS 2 distribution or main for Rolling:

git clone -b $ROS_DISTRO [email protected]:Robotic-Decision-Making-Lab/reach.git

After cloning the project, install all ROS dependencies using rosdep, again, replacing $ROS_DISTRO with the desired ROS distribution:

rosdep update && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Usage

Run the following command to use the Reach Alpha 5 interface:

ros2 launch reach_bringup alpha_5.launch.yaml

A full description of the available arguments can be retrieved using

ros2 launch reach_bringup <launch-file-name> --show-args

Disclaimer

This is an independent project, and is not affiliated with or maintained by Reach Robotics. Please refer to the Reach Robotics SDK for all official software.

License

This project has been released under the Reach Robotics Software License.