{"id":38975042,"url":"https://github.com/flexivrobotics/flexiv_ros","last_synced_at":"2026-01-17T16:45:26.709Z","repository":{"id":161967707,"uuid":"560245390","full_name":"flexivrobotics/flexiv_ros","owner":"flexivrobotics","description":"ROS 1 integration of RDK for Flexiv robots.","archived":false,"fork":false,"pushed_at":"2024-11-28T07:31:26.000Z","size":3383,"stargazers_count":7,"open_issues_count":1,"forks_count":2,"subscribers_count":3,"default_branch":"main","last_synced_at":"2024-11-28T08:27:28.716Z","etag":null,"topics":["flexiv","moveit","robotics","ros","ros-noetic"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/flexivrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-11-01T03:30:32.000Z","updated_at":"2024-11-28T07:31:28.000Z","dependencies_parsed_at":"2024-06-19T15:09:55.710Z","dependency_job_id":null,"html_url":"https://github.com/flexivrobotics/flexiv_ros","commit_stats":null,"previous_names":[],"tags_count":5,"template":false,"template_full_name":null,"purl":"pkg:github/flexivrobotics/flexiv_ros","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/flexivrobotics%2Fflexiv_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/flexivrobotics%2Fflexiv_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/flexivrobotics%2Fflexiv_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/flexivrobotics%2Fflexiv_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/flexivrobotics","download_url":"https://codeload.github.com/flexivrobotics/flexiv_ros/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/flexivrobotics%2Fflexiv_ros/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28511869,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-17T13:38:16.342Z","status":"ssl_error","status_checked_at":"2026-01-17T13:37:44.060Z","response_time":85,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["flexiv","moveit","robotics","ros","ros-noetic"],"created_at":"2026-01-17T16:45:26.161Z","updated_at":"2026-01-17T16:45:26.697Z","avatar_url":"https://github.com/flexivrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Flexiv ROS\n\n[![Industrial CI](https://github.com/flexivrobotics/flexiv_ros/actions/workflows/ci.yml/badge.svg)](https://github.com/flexivrobotics/flexiv_ros/actions/workflows/ci.yml)\n[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)\n\nRDK APIs are wrapped into ROS packages in `flexiv_ros`. Key functionalities like real-time joint torque and position control, `ros_control` and MoveIt! integrations are implemented.\n\n\u003e [!IMPORTANT]\n\u003e For new features and bug fixes, please migrate to ROS 2 and use the [Flexiv ROS 2 Humble](https://github.com/flexivrobotics/flexiv_ros2).\n\n## References\n\n[Flexiv RDK main webpage](https://www.flexiv.com/software/rdk) contains important information like RDK user manual and network setup.\n\n## Compatibility\n\n| **Supported OS** | **Supported ROS distribution**         |\n| ---------------------- | -------------------------------------------- |\n| Ubuntu 20.04           | [Noetic Ninjemys](https://wiki.ros.org/noetic/) |\n\n## Building\n\n```bash\n# install additional ROS packages\n$ sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers\n\n# source ros noetic\n$ source /opt/ros/noetic/setup.bash\n\n# create a catkin workspace\n$ mkdir -p flexiv_ros_ws/src \u0026\u0026 cd flexiv_ros_ws\n\n# clone the packages\n$ git clone https://github.com/flexivrobotics/flexiv_ros.git src/flexiv_ros\n\n# update the rdk submodule\n$ cd src/flexiv_ros\n$ git submodule update --init --recursive\n\n# install dependencies\n$ cd flexiv_ros_ws\n$ sudo apt update -qq\n$ rosdep update\n$ rosdep install --from-paths src --ignore-src -y\n\n# build the workspace\n$ catkin_make\n\n# source the workspace\n$ source ~/flexiv_ros_ws/devel/setup.bash\n```\n\n## Usage\n\n### Enable RDK on robot server\n\nIn order to use ROS driver to control the robot, you need to enable RDK on the robot server. See the [RDK Getting Started guide](https://www.flexiv.com/software/rdk/manual/set_up_the_robot.html) for details.\n\n### Control the robot\n\nMake sure that the ROS packages are built successfully and you have sourced the workspace. It is highly recommended to use a direct wired connection between the robot and the workstation PC for real-time access to the robot. The workstation PC must be in the same subnet with the robot in order to connect.\n\nTo start the robot driver run the following command in a terminal:\n\n```bash\n$ roslaunch flexiv_bringup rizon_control.launch robot_ip:=[robot_ip] local_ip:=[local_ip]\n```\n\n\u003e [!NOTE]\n\u003e Rizon 4 is the default robot type in the above launch command. If you want to control the Rizon 4s or Rizon 10, add the launch argument e.g. `rizon_type:=rizon4s`.\n\nIn another terminal, start the following launch file to run the rqt:\n\n```bash\n$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller\n```\n\nYou can use the rqt GUI to control the robot in joint space.\n\n### Using MoveIt!\n\nLaunch the robot driver and the MoveIt! interface:\n\n```bash\n$ roslaunch flexiv_moveit_config moveit_control.launch robot_ip:=[robot_ip] local_ip:=[local_ip]\n```\n\nYou should get a RViZ window with the robot in the planning scene. You can use the `MotionPlanning` plugin in RViZ to control the robot.\n\n### Robot States\n\nThe following ROS topics are published by the robot driver:\n\n- `/joint_states`: Joint states of the robot. [[`sensor_msgs/JointState.msg`](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/JointState.html)]\n- `/external_wrench_in_tcp`: Estimated external wrench applied on TCP and expressed in TCP frame $^{TCP}F_{ext}$ in force $[N]$ and moment $[Nm]$. [[`geometry_msgs/Wrench.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Wrench.html)]\n- `/external_wrench_in_base`: Estimated external wrench applied on TCP and expressed in base frame $^{0}F_{ext}$ in force $[N]$ and moment $[Nm]$. [[`geometry_msgs/Wrench.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Wrench.html)]\n- `/wrench`: Force-torque (FT) sensor raw reading in flange frame $^{flange}F_{raw}$ in force $[N]$ and moment $[Nm]$. The value is 0 if no FT sensor is installed. [[`geometry_msgs/Wrench.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Wrench.html)]\n- `/tcp_pose`: Measured TCP pose in base frame $^{0}T_{TCP}$ in position $[m]$ and quaternion. [[`geometry_msgs/Pose.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Pose.html)]\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fflexivrobotics%2Fflexiv_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fflexivrobotics%2Fflexiv_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fflexivrobotics%2Fflexiv_ros/lists"}