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‎README.md‎

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# AR4
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# AR4 ROS 2 Software
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The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot. This repository contains the necessary ROS 2 packages to plan and execute motions in Gazebo sim. It provides the arm description, simulation controllers and Moveit configuration needed to command it.
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The [Annin Robotics AR4](https://www.anninrobotics.com/) robot is a 6DOF desktop size industrial robot that is a free, open plan low cost robot. This repository contains the necessary ROS 2 packages to plan and execute motions in Gazebo sim.
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It provides a ROS 2 set of packages to be able to control the AR4 robot both in real hardware and
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a number of different simulation environments.
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<p align="center">
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<img src="docs/ar4.png" width=500 />
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</p>
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## Package Summary
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- [`ar4_gazebo`](./ar4_gazebo): Gazebo simulation for the ar4 arm.
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- [`ar4_description`](./ar4_description): Contains the URDF of the arm.
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- [`ar4_hardware_interface`](./ar4_hardware_interface): Contains the software required to connect the computer with the real robot.
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- [`ar4_moveit_config`](./ar4_moveit_config): Contains configuration and launch files to run and command the arm.
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These are the main packages providing launch files for the different use cases:
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- [`ar4_description`](./ar4_description): Contains the platform-agnostic parts of the URDF robot description.
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- [`ar4_gazebo_bringup`](./ar4_gazebo): Launch a Gazebo Sim simulation of AR4.
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- [`ar4_isaac_bringup`](./ar4_gazebo): **Not yet available.** Launch an Isaac Sim simulation of AR4.
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- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a Mujoco-based simulation of AR4.
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- [`ar4_realbot_bringup`](./ar4_gazebo): Launch drivers and control software for the real AR4 robot.
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- [`ar4_isaac`](./ar4_isaac): Isaac simulation for the ar4 arm.
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## Installation
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### Prerequisites
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```mermaid
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graph TD
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A[**ar4_moveit_config** <br> main.launch.py]
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B[**ar4_common** <br> main.launch.py]
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C[**ar4_description** <br> main.launch.py]
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D[**ar4_gazebo_sim** <br> main.launch.py]
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E[**ar4_gazebo_bringup** <br> main.launch.py]
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F[**ar4_hardware_interface** <br> main.launch.py]
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G[**ar4_realbot_bringup** <br> main.launch.py]
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It is a requirement to have `docker engine` with the `docker compose plugin` already installed in the host machine.
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A --> F
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C --> F
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See: [Docker Installation Guide](https://docs.docker.com/engine/install/ubuntu/)
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H[**ar4_isaac_bringup** <br> main.launch.py <br> ...not yet available...]
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I[**...** <br> main.launch.py]
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### Running the dev container
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B --> H
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I --> H
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Build and run the container for the use case you are interested in
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J[**ar4_mujoco_bringup** <br> main.launch.py <br> ...not yet available...]
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K[**...** <br> main.launch.py]
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#### Gazebo
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```bash
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./docker/run.sh -s ar4_gazebo
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```
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B --> J
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K --> J
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#### Hardware
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* [Hardware Interface Instructions](ar4_hardware_interface/README.md)
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A --> B
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## Build the packages
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C --> D
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C --> A
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Build the packages
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B --> E
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D --> E
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```
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colcon build
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B --> G
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F --> G
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```
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Source the built packages
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## Installation
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```
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source install/setup.bash
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```
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### Prerequisites
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---
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It is a requirement to have `docker engine` with the `docker compose plugin` already installed in the host machine.
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### Launch
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See: [Docker Installation Guide](https://docs.docker.com/engine/install/ubuntu/)
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After building and sourcing the packages, run the specific launch file for your use case:
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### Running the dev container
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Build and run the container for the use case you are interested in
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#### Gazebo
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Launch the docker container with the following command:
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```bash
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./docker/run.sh -s ar4_gazebo
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```
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ros2 launch ar4_gazebo moveit.launch.py
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Then build and launch Gazebo bringup launch file:
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```bash
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colcon build --symlink-install --packages-up-to ar4_gazebo_bringup \
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&& source install/setup.bash \
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&& ros2 launch ar4_gazebo_bringup main.launch.py
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```
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![Ar4 Gazebo](docs/ar4.png)
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---
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#### Hardware
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* [Hardware Interface Instructions](ar4_hardware_interface/README.md)
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### Controlling the AR4 with MoveIt
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‎ar4_mujoco_bringup/CMakeLists.txt‎

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# BSD 3-Clause License
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#
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# Copyright 2025 Ekumen, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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cmake_minimum_required(VERSION 3.7)
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project(ar4_mujoco_bringup)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
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ament_package()

‎ar4_mujoco_bringup/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2025, Ekumen Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎ar4_mujoco_bringup/launch/main.launch.py‎

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# BSD 3-Clause License
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#
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# Copyright 2025 Ekumen, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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"""launch file for integrating Gazebo with MoveIt for the AR4 robot."""
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from launch import LaunchDescription
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from launch_ros.actions import SetParameter
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from launch_ros.substitutions import FindPackageShare
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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def generate_launch_description():
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use_sim_time_param = SetParameter(name="use_sim_time", value=True)
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common_stack_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ar4_common"),
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"launch",
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"main.launch.py",
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]
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)
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)
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)
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gz_sim_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("ar4_mujoco_sim"),
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"launch",
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"main.launch.py",
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]
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)
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)
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)
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return LaunchDescription(
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[
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use_sim_time_param,
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common_stack_include,
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gz_sim_include,
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]
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)

‎ar4_mujoco_bringup/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>ar4_mujoco_bringup</name>
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<version>0.0.1</version>
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<description>Launch AR4 software against a Mujoco simulation of the robot</description>
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<author email="glpuga@ekumenlabs.com">Gerardo Puga</author>
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<maintainer email="glpuga@ekumenlabs.com">Gerardo Puga</maintainer>
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<license file="LICENSE">BSD-3-Clause</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>ar4_common</exec_depend>
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<exec_depend>ar4_mujoco_sim</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ar4_mujoco_sim/CMakeLists.txt‎

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# BSD 3-Clause License
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#
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# Copyright 2025 Ekumen, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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cmake_minimum_required(VERSION 3.7)
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project(ar4_mujoco_sim)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY launch
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meta
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mjcf
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urdf
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xacro
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DESTINATION share/${PROJECT_NAME}/)
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ament_package()

‎ar4_mujoco_sim/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2025, Ekumen Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎ar4_mujoco_sim/README.md‎

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# Description
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A Gazebo simulation of the AR4 Package.
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To build the package, run
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`colcon build`
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To run the simulation, source and run
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`ros2 launch ar4_mujoco_sim ar4_sim.launch.py`
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#### Launch file arguments
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- 'rsp':
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- Run [`robot state publisher`](https://github.com/ros/robot_state_publisher) node. (default: 'false')
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- 'rviz':
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- Start RViz. (default: 'false')

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