YuMi ROS2

Overview

YuMi ROS2 provides a complete MoveIt2 configuration package for the ABB YuMi dual-arm collaborative robot, targeting ROS2 Jazzy. It enables sophisticated dual-arm motion planning, coordinated bimanual manipulation, and visualization in RViz with custom configurations.

Key Features

Dual-Arm Planning - Independent and synchronized motion planning for both arms
OMPL Integration - Access to RRTConnect, PRM, BiTRRT, and other algorithms
KDL Kinematics - Fast inverse kinematics using the KDL solver
Fake Controllers - Simulate robot motion without physical hardware
Custom RViz Config - Pre-configured visualization for YuMi’s workspace

Supported Planning Groups

Group	Description
`left_arm`	7-DOF left arm planning
`right_arm`	7-DOF right arm planning
`both_arms`	Coordinated dual-arm planning
`left_gripper`	SmartGripper finger control
`right_gripper`	SmartGripper finger control

Quick Start

# Clone to ROS2 workspace
cd ~/ros2_ws/src
git clone https://github.com/Jshulgach/yumi_ros2.git

# Install dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
colcon build --packages-select yumi_moveit_config

# Launch
ros2 launch yumi_moveit_config demo.launch.py

Architecture

┌────────────────────┐
│   MoveIt2 Core     │
├────────────────────┤
│  OMPL Planner      │◀── Planning Algorithms
├────────────────────┤
│  KDL IK Solver     │◀── Inverse Kinematics
├────────────────────┤
│  Fake Controllers  │◀── Simulation Mode
└────────────────────┘
         │
         ▼
┌────────────────────┐
│     RViz2          │
│   Visualization    │
└────────────────────┘

Applications

Research - Bimanual manipulation experiments
Industrial Automation - Assembly task planning
Education - Learning dual-arm robotics concepts
Simulation - Testing motion plans before deployment