IGRIS_C_MASTERARM

ROS2 package for MasterArm teleoperation of IGRIS-C. It provides:

• a headless relay node for direct MasterArm-to-robot publishing
• an SDK-style GUI example client, adapted for MasterArm workflows

Overview

This package reads joint positions from MasterArm devices using the MasterArm SDK and converts them into control commands for both robot arms and hands. The GUI tool also subscribes to rt/lowstate and shows the current robot arm positions against the MasterArm-driven command values.

Requirements

Hardware

• MasterArm device (Dynamixel-based)
• USB-2-Serial adapter (/dev/ttyUSB0)

Installation

0. submodules

git submodule update --init --recursive

1. Initialize Submodules

cd ~/ros2_ws/src/igris_c_masteram
git submodule update --init --recursive

2. Install DynamixelSDK

sudo apt-get install ros-${ROS_DISTRO}-dynamixel-sdk
# Or build from source:
cd ~/ros2_ws/src
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd ~/ros2_ws
colcon build --packages-select dynamixel_sdk

3. Install OpenSSL

sudo apt install libssl-dev

4. Build Package

cd ~/ros2_ws
colcon build --packages-select igris_c_masterarm
source install/setup.bash

Usage

Headless relay node

ros2 run igris_c_masterarm igris_c_masterarm_node

GUI example build

cd ~/ros2_ws/src/igris_c_masteram/examples
./build.sh

The GUI example is pinned to: igris_c_masteram/third_party/igris_c_sdk_public It does not fall back to COLCON_PREFIX_PATH or any SDK installed from the robot-side workspace.

GUI example run

cd ~/ros2_ws/src/igris_c_masteram/examples/build
./masterarm_gui_client /dev/ttyUSB0 1000000 0
./masterarm_gui_client /dev/ttyUSB0 1000000 0 robot1

Launch file for the headless relay node

ros2 launch igris_c_masterarm igris_c_masterarm.launch.py port:="/dev/ttyUSB0" baud:=1000000
ros2 launch igris_c_masterarm igris_c_masterarm.launch.py port:="/dev/ttyUSB0" baud:=1000000 namespace:=robot1

Pre-execution Checklist

1. Verify MasterArm device is connected to /dev/ttyUSB0
2. Verify IGRIS-C robot is running
3. For the GUI example, use the Start/Stop button to enable or disable command publishing

DDS Topics

This package does not publish finger commands on standard ROS2 topics. It uses CycloneDDS-style custom DDS topics for IGRIS communication.

Published Topics

• rt/lowcmd: Robot motor control commands (LowCmd)
• rt/handcmd: Hand motor control commands (HandCmd)

Subscribed Topics

• rt/lowstate: Robot current state (LowState)
• rt/robotstate: Robot control state (RobotState)

ROS2 Launch Parameters

parameter name	default	description
port	/dev/ttyUSB0	USB-serial port to communicate with the MasterArm
baud	1000000	USB-serial port baudrate
domain_id	0	CycloneDDS domain id
namespace	empty	Optional DDS namespace prefix

GUI Behavior

The GUI example:

• removes the slider-based command editor from sdk_gui_client
• shows MasterArm command values and the current rt/lowstate arm motor values side by side
• does not gate publishing on RobotState
• starts and stops low-level command publishing only with the GUI button
• keeps service buttons for torque, BMS, hand init, and control-mode switching

Trouble Shooting

Serial Port Permissions

sudo chmod 666 /dev/ttyUSB0
# or add user to dialout group
sudo usermod -aG dialout $USER