This package targets a combined arm+hand production layout where control, behavior extension, and tactile observability must coexist without hidden launch coupling.

Primary design goals:

• maintain deterministic MoveIt Pro startup contract for UR5e + Allegro hand
• keep behavior plugin extension isolated in behaviors/ while preserving package portability
• integrate AH tactile visualization/sidecar path as optional operator tooling

The package therefore keeps driver bringup, planning/control config, and tactile observability connected by explicit launch interfaces instead of implicit node assumptions.

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ur5e_xahr2c_config3¶

1. Overview and design objective¶

This design targets a combined arm+hand production layout where control, behavior extension, and tactile observability must coexist without hidden launch coupling.

Primary design goals:

• maintain deterministic MoveIt Pro startup contract for UR5e + Allegro hand
• keep behavior plugin extension isolated in behaviors/ while preserving package portability
• integrate AH tactile visualization/sidecar path as optional operator tooling

The package therefore keeps driver bringup, planning/control config, and tactile observability connected by explicit launch interfaces instead of implicit node assumptions.

2. Architecture¶

2.1 MoveIt Pro core¶

• config/config.yaml is the main contract.
• package extends picknik_ur_site_config.
• default planning group: manipulator.

2.2 Driver layer¶

• real: launch/robot_drivers_to_persist.launch.py
• sim: launch/robot_drivers_to_persist_sim.launch.py
• both include allegro_description_bringup.launch.py

2.3 Tactile visualization layer¶

launch/xela_driver.launch.py composes:

1. AH std-viz all-in-one simulation launch
2. AH sidecar launch (optional)

3. Behavior plugin design¶

• behavior library in behaviors/
• plugin XML exported with pluginlib_export_plugin_description_file
• ROS std_srvs/Trigger client with explicit timeout and error propagation

4. ros2_control design¶

• arm + hand controllers coexist in one profile
• taxel joint state publisher outputs /joint_states_full
• velocity force controller uses ee_frame: ur_adapter

5. Launch design notes¶

• xela_driver.launch.py keeps sidecar args explicit.
• sidecar manager service path: /xela_viz_mode_manager/set_mode.
• only subset of viz args is currently forwarded to std-viz include.

6. Risks¶

• declared args vs forwarded std-viz args mismatch
• sim defaults accidentally used in real environment
• sidecar and std-viz mode divergence

7. Validation¶

• behavior plugin registration test
• launch smoke tests for sidecar toggle
• topic/service probes: /x_taxel_ah, /x_taxel_ah/web_state, /xela_viz_mode_manager/set_mode

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ur5e_xahr2c_config3¶

MoveIt Pro runtime configuration for UR5e + Xela Allegro Hand (R2C).

What this package contains¶

• combined arm+hand robot config (config/config.yaml)
• ros2_control profile (config/control/ur5e_xahr2c.ros2_control.yaml)
• URDF/SRDF and planning overrides
• custom behavior plugin: TriggerPStopResetService
• objective library + waypoints
• tactile web/viz launcher (launch/xela_driver.launch.py)

Runtime modes¶

1) MoveIt Pro app runtime¶

cd ~/my_moveit_pro/01_wk_xela_mpro_dev_ws
moveit_pro run -c ur5e_xahr2c_config3

2) Xela visualization runtime¶

ros2 launch ur5e_xahr2c_config3 xela_driver.launch.py

xela_driver.launch.py pipeline¶

• includes std_xela_taxel_viz_ahv4/launch/sim_all_svc_std_xela_taxel_viz_ahv4.launch.py
• includes xela_taxel_sidecar_ah/launch/xela_taxel_sidecar_cpp.launch.py (optional)

Important:

• std-viz include currently forwards only namespace, model_name, viz_mode.
• other declared args are currently for sidecar/compatibility, not passed through to std-viz in this file.

Default launch arguments¶

• namespace: xvizah
• model_name: XR23AHLCPP
• viz_mode: urdf
• style_preset: cool_steel
• joint_states_mode: local
• frame_prefix: empty
• marker_stamp_mode: now
• marker_time_offset_sec: -0.12
• enable_taxel_sidecar: true
• taxel_sidecar_web_port: 8765
• enable_taxel_sidecar_rosbridge: true
• taxel_sidecar_rosbridge_port: 9090
• enable_viz_mode_manager: true
• max_publish_rate_hz: 20.0

Core config defaults¶

• hardware.simulated=true
• driver launch split:
  • real: launch/robot_drivers_to_persist.launch.py
  • sim: launch/robot_drivers_to_persist_sim.launch.py
• ros2_control_hardware_type=mock_components
• startup active controllers include hand_controller and xela_taxel_joint_state_publisher
• waypoint file: waypoints/new_waypoints.yaml

Sidecar operation examples¶

Disable sidecar:

ros2 launch ur5e_xahr2c_config3 xela_driver.launch.py enable_taxel_sidecar:=false

Right-hand model:

ros2 launch ur5e_xahr2c_config3 xela_driver.launch.py model_name:=XR23AHRCPP

Custom behavior¶

TriggerPStopResetService:

• plugin id: trigger_pstop_reset_service::TriggerPStopResetServiceBehaviorsLoader
• default service: /recover_from_protective_stop
• timeout: 2.0 sec

Documentation¶

• Functional spec: ur5e_xahr2c_config3.md
• Design: DESIGN.md
• Redmine: README.textile, ur5e_xahr2c_config3.textile, DESIGN.textile