This package is the runtime configuration layer for a UR5e + Robotiq 2F-140 cell in MoveIt Pro, with Xela 2F tactile visualization integrated as an optional operator path.

Operationally it binds three concerns in one package boundary:
- MoveIt Pro robot/application configuration (`config/config.yaml`, URDF/SRDF, ros2_control profile)
- gripper operation objectives for Robotiq action interface
- tactile visualization orchestration (`xela_server2_2f` + `std_xela_taxel_viz_2f` + optional web sidecar)

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ur5e_x2f_140_config3¶

1. Overview and design objective¶

The design separates mission-critical robot runtime from operator-facing tactile visualization while keeping a single launch entrypoint for deployment.

Key intent:

• keep MoveIt Pro config semantics aligned with ur5e_x2f_140_common
• avoid coupling motion control logic to web-side visualization concerns
• make tactile visualization chain optional but first-class (xela_driver.launch.py)

Architecturally, this package acts as an orchestration shell: core control/planning definitions stay in config assets, and tactile stack composition is handled in launch space with explicit argument pass-through.

2. Architecture¶

Generated PNG: docs/architecture_overview.png

2.1 MoveIt Pro runtime layer¶

• Base package: ur5e_x2f_140_common
• Overrides in config/config.yaml
• ros2_control profile in config/control/ur5e_x2f_140.ros2_control.yaml
• custom objectives layered on top of common objectives
• no package-local waypoint file; waypoint resolution stays with the base package behavior

2.2 Tactile visualization layer¶

launch/xela_driver.launch.py composes:

1. xela_server_nosudo.launch.py (optional CAN setup, Xela websocket process, websocket wait gate, then xela_server2_2f)
2. std_xela_taxel_viz_2f.launch.py (frame_id:=world, overlay_grid_in_urdf:=false)
3. xela_taxel_sidecar_2f/xela_taxel_sidecar_cpp.launch.py (optional, namespaced TF integration)

2.3 Agent bridge wrapper¶

• launch/agent_bridge.launch.xml includes:
  • moveit_studio_agent/launch/studio_agent_bridge.launch.xml
  • ur5e_x2f_140_config3/launch/xela_driver.launch.py
• this keeps tactile visualization additive to the MoveIt Pro runtime path

3. Parameter flow¶

• user-facing arguments are defined at xela_driver.launch.py
• server/network args go to xela_server_nosudo.launch.py
• viz args go to std_xela_taxel_viz_2f
• sidecar args go to xela_taxel_sidecar_2f
• sidecar integration pins bridge_tf_topic=/xviz2f/tf, bridge_tf_static_topic=/xviz2f/tf_static, viz_node_name=/xviz2f/std_xela_taxel_viz_2f, freeze_urdf_positions=false

4. Controller design¶

• startup-active controllers favor monitoring + servo/gripper operation.
• trajectory/admittance/velocity-force controllers are loaded but inactive by default.
• tactile joint-state publisher is active at startup.

5. Operational design choices¶

• sidecar mode manager is separate from std viz node.
• web/rosbridge ports are explicit launch arguments.
• simulation-first defaults reduce bringup risk in development.
• real-hardware cutover points remain explicit in config/config.yaml and the CAN setup path

6. Risks¶

• real/sim parameter mismatch
• CAN setup dependency when setup_can=true
• sidecar/viz mode mismatch if service calls fail

7. Recommended validation¶

• static: config/config.yaml and ros2_control name consistency
• runtime: launch chain start, topic presence, sidecar mode switch
• wrapper: agent_bridge.launch.xml starts both included launch files without path errors