Fanuc CRX-10iA Dual-Arm ROS2 System

A complete ROS2 Humble implementation of a dual-arm robotic system using two Fanuc CRX-10iA collaborative robots with Robotiq grippers.

Version History / Milestones

For reviewers: Use tags to view the code at each milestone completion.

Project Overview

This project implements a dual-arm robotic workcell with:

• Two Fanuc CRX-10iA robots mounted at 45° angles
• Robotiq 2F-85 grippers on each arm
• ros2_control integration with fake hardware
• Cartesian control capability
• Synchronized dual-arm motion

Demo Videos

Task 1: Single Arm with Gripper

Download Task 1 Demo

Task 2: Dual-Arm Synchronized Motion

Download Working Demo

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Repository Structure

Dexsent_round2/
├── .github/workflows/
│   └── ros2-ci.yml              # GitHub Actions CI/CD
├── src/
│   ├── fanuc_crx10ia_description/   # Single arm URDF + meshes
│   └── fanuc_dual_arm_description/  # Dual-arm system + control
├── docs/
│   ├── imgs/                    # Reference images
│   ├── vids/                    # Demo videos
│   ├── references/              # Research papers
│   ├── report.pdf               # Technical report (1-2 pages)
│   ├── task1_robot_setup.md     # Task 1 documentation
│   ├── task2_cartesian_control.md   # Task 2 documentation
│   ├── architecture.md          # System architecture
│   ├── troubleshooting.md       # Common issues & fixes
│   ├── flex.md                  # Project highlights
│   └── my_exp.md                # Development experience
├── docker-compose.yml
├── Dockerfile
├── docker-entrypoint.sh
└── README.md

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Quick Start

Prerequisites

• Docker & Docker Compose
• X11 display server (for RViz)

1. Clone & Build

git clone https://github.com/ashwin-r11/Dexsent_round2.git

cd  Dexsent_round2

# Allow X11 forwarding
xhost +local:docker

# Start Docker environment
docker compose up -d
docker compose exec ros2-dev bash

2. Build Workspace

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

3. Launch

Task 1: Single Arm with Gripper

Display Mode (with joint sliders):

ros2 launch fanuc_crx10ia_description display.launch.py

Control Mode (with ros2_control):

ros2 launch fanuc_crx10ia_description bringup.launch.py

Run Demo:

# In another terminal
python3 /ros2_ws/src/fanuc_crx10ia_description/scripts/trajectory_demo.py

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Task 2: Dual-Arm with Cartesian Control

Display Mode (with joint sliders):

ros2 launch fanuc_dual_arm_description display.launch.py

Control Mode (with Cartesian controller):

ros2 launch fanuc_dual_arm_description dual_arm_cartesian.launch.py

Run Demo:

# In another terminal
python3 /ros2_ws/src/fanuc_dual_arm_description/scripts/pick_place_demo.py

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Tasks Completed

Task 1: Robot Setup & Gripper Integration

• Fanuc CRX-10iA loaded into ROS2
• Robot displayed in RViz
• Joint trajectory execution via ros2_control
• Robotiq gripper integrated
• FollowJointTrajectory support

See Task 1 Documentation

Task 2: Dual-Arm Cartesian Control

• Two robots mounted at 45° angles
• Cartesian control implemented
• Synchronized dual-arm motion
• Pick-and-place demo with gripper control

See Task 2 Documentation

📄 Technical Report (PDF) — Architecture, challenges, solutions, and design decisions

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Architecture

┌─────────────────────────────────────────────────────────┐
│                    ROS2 Humble                          │
├─────────────────────────────────────────────────────────┤
│     RViz2          Controller Manager     Cartesian     │
│                                           Controller    │
├─────────────────────────────────────────────────────────┤
│                     ros2_control                        │
│   Left Arm Controller    │    Right Arm Controller      │
│   Left Gripper           │    Right Gripper             │
├─────────────────────────────────────────────────────────┤
│              Fake Hardware Interface                    │
│           (fake_components/GenericSystem)               │
└─────────────────────────────────────────────────────────┘

See Full Architecture

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Packages

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Available Launch Files

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Controller Configuration

Defined in dual_arm_controllers.yaml:

• joint_state_broadcaster
• left_arm_controller (JointTrajectoryController)
• right_arm_controller (JointTrajectoryController)
• left_gripper_controller (GripperActionController)
• right_gripper_controller (GripperActionController)

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Design Decisions

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References

Environment Setup

• Docker with ROS - ROS Wiki
• Docker Containers Setup - MoveIt

Dual-Arm Robotics

• Dual-Arm Jacobian Comparison (PDF)
  • Authors: F. Caccavale, C. Natale, B. Siciliano, L. Villani - IEEE CIS-RAM

Mounting Reference Sketch

Sketch by: Ashwin R

Motion Planning

• MoveIt 2 Concepts
• ROS2 Interfaces

Grippers & End Effectors

• Robotic Grippers Research (PDF)

Robot Specifications

• Fanuc CRX-10iA Specs
• ros2_control Documentation
• ROS2 Humble Docs

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License

BSD-3-Clause

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Author

Ashwin R

Developed for DexSent Robotics Technical Screening