NASA-JSC-Robotics · eholum-nasa · Mar 6, 2026 · Dec 10, 2025 · Dec 15, 2025 · Dec 16, 2025
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -82,4 +82,4 @@ repos:
     hooks:
       - id: codespell
         exclude: \.(svg|stl|dae)$
-        args: ["--ignore-words-list", "hande"]
+        args: ["--ignore-words-list", "hande, Hart"]
diff --git a/CITATION.cff b/CITATION.cff
@@ -0,0 +1,24 @@
+cff-version: 1.2.0
+message: "If you use this software in your own work, please cite the following paper."
+preferred-citation:
+  type: conference-paper
+  authors:
+  - family-names: "Dunkelberger"
+    given-names: "Nathan"
+  - family-names: "Sheetz"
+    given-names: "Emily"
+  - family-names: "Rainen"
+    given-names: "Connor"
+  - family-names: "Graf"
+    given-names: "Jodi"
+  - family-names: "Hart"
+    given-names: "Nikki"
+  - family-names: "Zemler"
+    given-names: "Emma"
+  - family-names: "Azimi"
+    given-names: "Shaun"
+  title: "Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research"
+  doi: 10.1109/UR65550.2025.11077983
+  collection-title: "2025 22nd International Conference on Ubiquitous Robots (UR)"
+  year: 2025
+  pages: {390-397}
diff --git a/README.md b/README.md
@@ -25,11 +25,15 @@ ros2 launch clr_deploy clr_sim.launch.py model_env:=true
 For hardware we run the UR pendantless, which is a two part launch process:
 
 ```bash
-# To launch the hardware robot, first deploy the UR tools to activate the dashboard client
-# in its own long-lived shell.
-ros2 launch chonkur_deploy ur_tools.launch.py
+# To launch the hardware robot, first deploy chonkur communications to activate the dashboard client
+# in its own long-lived shell on the controls machine.
+ros2 launch chonkur_deploy chonkur_comm.launch.py
 
-# Start the hardware interfaces for the rail, lift, and ChonkUR.
+# On the console machine, launch the UR GUI, which handles most operations that normally occur on the UR pendant
+ros2 launch chonkur_deploy chonkur_gui.launch.py
+
+# Back on the controls machine, after reading the UR arm
+# Start the hardware interfaces for the rail, lift, and ChonkUR
 ros2 launch clr_deploy clr_hw.launch.py
 ```
 
@@ -43,7 +47,7 @@ ros2 launch clr_moveit_config clr_moveit.launch.py model_env:=true
 ```
 
 A MuJoCo simulation including the environment is available in [clr_mujoco_config](./clr_mujoco_config/README.md).
-Note that it requires the [MuJoCo ROS 2 simulation hardware interface](https://github.com/NASA-JSC-Robotics/mujoco_ros2_simulation) to run.
+Note that it requires the [MuJoCo ROS 2 simulation hardware interface](https://github.com/ros-controls/mujoco_ros2_control) to run.
 
 ```bash
 # Start the mujoco ros2 control-based simulation
@@ -52,3 +56,21 @@ ros2 launch clr_mujoco_config clr_mujoco.launch.py
 # In another shell launch the moveit interface with sim parameters set
 ros2 launch clr_moveit_config clr_moveit.launch.py include_mockups_in_description:=true use_sim_time:=true
 ```
+
+## Citation
+
+This project falls under the purview of the iMETRO project.
+If you use this in your own work, please cite the following paper:
+
+```bibtex
+@INPROCEEDINGS{imetro-facility-2025,
+  author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
+  booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
+  title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
+  year={2025},
+  volume={},
+  number={},
+  pages={390-397},
+  keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
+  doi={10.1109/UR65550.2025.11077983}}
+```
diff --git a/chonkur/README.md b/chonkur/README.md
@@ -27,8 +27,8 @@ For hardware we run the UR pendantless, which is a two part launch process:
 
 ```bash
 # To launch the hardware robot, first deploy the UR tools to activate the dashboard client
-# in its own long-lived shell.
-ros2 launch chonkur_deploy ur_tools.launch.py
+# in its own long-lived shell on the controls machine.
+ros2 launch chonkur_deploy chonkur_comm.launch.py
 
 # Then start the hardware interface.
 ros2 launch chonkur_deploy chonkur_hw.launch.py

diff --git a/chonkur/chonkur_deploy/config/drt_ur_gui_config.yaml b/chonkur/chonkur_deploy/config/drt_ur_gui_config.yaml
@@ -0,0 +1,14 @@
+drt_ur_gui:
+  ros__parameters:
+    program: "ext_ctrl.urp"
+    window.name: "DRT UR Remote Commander: Single Arm Testing Configuration"
+    window.stylesheet: |
+      QMainWindow {
+        background-color: darkgrey;
+        color: #000000;
+      }
+      QPlainTextEdit {
+        background-color: lightgrey;
+        color: #000000;
+        font-size: 8px;
+      }
diff --git a/chonkur/chonkur_deploy/launch/chonkur_comm.launch.py b/chonkur/chonkur_deploy/launch/chonkur_comm.launch.py
@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2025, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# This software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace for the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "headless_mode",
+            default_value="true",
+            description="Enable headless mode for robot control",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip",
+            default_value="192.168.1.102",
+            description="IP address by which the robot can be reached.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "hande_dev_name",
+            default_value="/tmp/ttyUR",
+            description="File descriptor that will be generated for the tool communication device. "
+            "The user has be be allowed to write to this location. ",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tcp_port",
+            default_value="54321",
+            description="Remote port that will be used for bridging the tool's serial device.",
+        )
+    )
+
+    # Initialize Arguments
+    namespace = LaunchConfiguration("namespace")
+    headless_mode = LaunchConfiguration("headless_mode")
+    robot_ip = LaunchConfiguration("robot_ip")
+    hande_dev_name = LaunchConfiguration("hande_dev_name")
+    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
+
+    robot_state_helper_node = Node(
+        package="ur_robot_driver",
+        executable="robot_state_helper",
+        name="ur_robot_state_helper",
+        output="both",
+        parameters=[
+            {"headless_mode": headless_mode},
+            {"robot_ip": robot_ip},
+        ],
+    )
+
+    ur_dashboard_client = Node(
+        package="ur_robot_driver",
+        executable="dashboard_client",
+        name="dashboard_client",
+        output="both",
+        parameters=[{"robot_ip": robot_ip}],
+    )
+
+    hande_comm_node = Node(
+        name="ur_tool_communication_hande",
+        package="ur_robot_driver",
+        executable="tool_communication.py",
+        namespace=namespace,
+        output="both",
+        parameters=[
+            {
+                "robot_ip": robot_ip,
+                "tcp_port": tool_tcp_port,
+                "device_name": hande_dev_name,
+            }
+        ],
+    )
+
+    nodes = [robot_state_helper_node, ur_dashboard_client, hande_comm_node]
+
+    return LaunchDescription(declared_arguments + nodes)
diff --git a/chonkur/chonkur_deploy/launch/chonkur_gui.launch.py b/chonkur/chonkur_deploy/launch/chonkur_gui.launch.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2025, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# This software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from chonkur_deploy.launch_helpers import include_launch_file
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace for the robot.",
+        )
+    )
+
+    # Initialize Arguments
+    namespace = LaunchConfiguration("namespace")
+
+    gui_config_path = os.path.join(get_package_share_directory("chonkur_deploy"), "config", "drt_ur_gui_config.yaml")
+
+    ur_gui = include_launch_file(
+        package_name="drt_ur_gui",
+        launch_file="one_arm.launch.py",
+        launch_arguments={
+            "ns": namespace,
+            "config_file_path": gui_config_path,
+        }.items(),
+    )
+
+    nodes = [ur_gui]
+
+    return LaunchDescription(declared_arguments + nodes)
diff --git a/chonkur/chonkur_deploy/launch/control.launch.py b/chonkur/chonkur_deploy/launch/control.launch.py
@@ -66,7 +66,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "hande_dev_name",
-            default_value="/dev/robotiq",
+            default_value="/tmp/ttyUR",
             description="File descriptor that will be generated for the tool communication device. "
             "The user has be be allowed to write to this location. ",
         )

diff --git a/chonkur/chonkur_deploy/package.xml b/chonkur/chonkur_deploy/package.xml
@@ -7,7 +7,7 @@
     Deploy package for chonkur
   </description>
   <maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>

diff --git a/chonkur/chonkur_description/package.xml b/chonkur/chonkur_description/package.xml
@@ -7,7 +7,7 @@
     URDF description for ChonkUR
   </description>
   <maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/chonkur/chonkur_description/urdf/chonkur.urdf.xacro b/chonkur/chonkur_description/urdf/chonkur.urdf.xacro
@@ -8,7 +8,7 @@
   <xacro:arg name="marker_opacity" default="0.5"/>
   <xacro:arg name="finger_xacro" default="fngr_v6"/>
   <xacro:arg name="robot_ip" default="192.168.1.102"/>
-  <xacro:arg name="com_port_hande" default="/dev/robotiq"/>
+  <xacro:arg name="com_port_hande" default="/tmp/ttyUR"/>
 
   <xacro:include filename="$(find chonkur_description)/urdf/chonkur_macro.xacro"/>
 

diff --git a/chonkur/chonkur_moveit_config/package.xml b/chonkur/chonkur_moveit_config/package.xml
@@ -7,7 +7,7 @@
      An automatically generated package with all the configuration and launch files for using the chonkur with the MoveIt Motion Planning Framework
   </description>
   <maintainer email="erik.holum@nasa.gov">Erik Holum</maintainer>
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/clr_deploy/package.xml b/clr_deploy/package.xml
@@ -7,7 +7,7 @@
     Deploy package for ChonkUR L. Rail-E
   </description>
   <maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
@@ -20,6 +20,7 @@
   <exec_depend>ewellix_liftkit_deploy</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <!-- Pending https://github.com/RoboStack/ros-jazzy/pull/177 -->
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>vention_rail_deploy</exec_depend>
 

diff --git a/clr_description/package.xml b/clr_description/package.xml
@@ -7,7 +7,7 @@
     URDF description for ChonkUR L. Rail-E
   </description>
   <maintainer email="michael.e.tobia@nasa.gov">Michael Tobia</maintainer>
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/clr_description/urdf/clr_macro.xacro b/clr_description/urdf/clr_macro.xacro
@@ -10,16 +10,16 @@
     sim_gazebo:=false
     sim_ignition:=false
     chonkur_ip:=192.168.1.102
-    com_port_hande:=/dev/robotiq
+    com_port_hande:=/tmp/ttyUR
     finger_xacro:=fngr_v6
     add_grasp_push_frames:=true
     marker_opacity:=0.5
     rail_ip:=192.168.7.2
     rail_port:=9999
     rail_position_limit:=2.0
     rail_velocity_limit:=0.15
-    safety_com_port:=/dev/safety_com_port
-    ewellix_com_port:=/dev/ewellix
+    safety_com_port:=/dev/ttyACM0
+    ewellix_com_port:=/dev/ttyUSB0
     ewellix_height_limit:=0.7
     ewellix_omit_plates:=true
     generate_ros2_control_tag:=true

diff --git a/clr_imetro_environments/package.xml b/clr_imetro_environments/package.xml
@@ -7,7 +7,7 @@
 
   <maintainer email="michael.e.tobia@nasa.gov">Mike Tobia</maintainer>
 
-  <license>Apache License, Version 2.0</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/clr_imetro_environments/urdf/clr_trainer_multi_hatch_macro.xacro b/clr_imetro_environments/urdf/clr_trainer_multi_hatch_macro.xacro
@@ -108,10 +108,11 @@
       <xacro:property name="external_handle_3" default="true"/>
       <xacro:property name="internal_handle_1" default="false"/>
       <xacro:property name="internal_handle_2" default="true"/>
+      <xacro:property name="latch" default="true"/>
       <xacro:include filename="$(find hatch_4060)/urdf/hatch_4060.xacro"/>
       <xacro:hatch_4060 prefix="lorge/" parent="lorge/hatch_frame"
         external_handle_1="${external_handle_1}" external_handle_2="${external_handle_2}" external_handle_3="${external_handle_3}"
-        internal_handle_1="${internal_handle_1}" internal_handle_2="${internal_handle_2}">
+        internal_handle_1="${internal_handle_1}" internal_handle_2="${internal_handle_2}" latch="${latch}">
         <!-- <origin xyz="${0.678 + 0.012} 0.057 ${0.716 - 0.013}" rpy="0 0 0"/> -->
         <origin xyz="0.678 0.057 0.716" rpy="0 0 0"/>
       </xacro:hatch_4060>