1. Overview

What is dyros_robot_controller?

Dyros Robot Controller is a versatile ROS2-based control package that implements control algorithms for various types of robots, including mobile robots, manipulators, and mobile manipulators.

It is designed to work seamlessly in both simulation and real-robot environments, enabling rapid development and testing of advanced control strategies.

Key features

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• Mobile robots
  • Supports differential drive, mecanum, and caster wheel configurations
  • Provides kinematics-based Forward/Inverse Kinematics
• Manipulators
  • Joint-space position, velocity, and torque control
  • Task-space control using Jacobian-based CLIK (Closed-loop Inverse Kinematics)
  • Dynamic control using OSF (Operational Space Formulation)
  • QP-based controllers that handle constraints (joint limits, velocity, collision avoidance, etc.)
• Mobile Manipulators
  • Whole-body torque-based controller
• Simulation and Real-World Integration
  • Validated in simulation with:
    • Mobile robots: ClearPath Huyky, Summit XL, 4-wheel powered caster vehicle
    • Manipulators: Franka FR3, UR5
    • Mobile manipulators: Husky-FR3, XLS-FR3
  • Real robot integration in progress

How to install dyros_robot_controller?

1. Install dependencies

   • ROS2 Humble
   • Pinocchio - for kinematics and dynamics computation
   • **OSQP and** **OSQP-Eigen** - for fast Quadratic Programming solvers

2. Move to your ros2 workspace

   cd ros2_ws
   

3. Clone the git repository

   git clone <https://github.com/JunHeonYoon/dyros_robot_controller.git> src
   

4. Build the package and source the ros2 workspace

   colcon build --symlink-install
   source install/setup.bash
   

Examples

Examples require the installation of the MuJOCo simulator.

1. Install MuJoCo

   git clone <https://github.com/deepmind/mujoco.git>
   mkdir build && cd build
   cmake ..
   cmake --build .
   cmake --install .
   

2. Install MuJoCo-py

   pip3 install mujoco