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4. ROS 2 and MoveIt

PAROL6-ROS2-MOVEIT is a MoveIt 2 configuration for PAROL6 with the URDF, a simulation demo and launch files, tested on Ubuntu 22.04 with ROS 2 Humble.

Simulation

sudo apt install ros-humble-desktop ros-humble-moveit
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/Source-Robotics/PAROL6-ROS2-MOVEIT.git
cd ~/ros2_ws && colcon build
source /opt/ros/humble/setup.bash && source install/setup.bash
LC_NUMERIC=en_US.UTF-8 ros2 launch parol6_moveit demo.launch.py

RViz opens with the robot, and MoveIt plans and executes on the mock hardware.

The real robot

real_robot.launch.py brings up the same stack on ros2_control, with a hardware interface and a bridge that talk to the Python API's controller, which must be running (parol6-server --serial ..., or its simulator mode). The hardware interface lives in parol6_ros2_control, a community repository, cloned next to the MoveIt package:

cd ~/ros2_ws/src
git clone https://github.com/grahas/parol6_ros2_control.git
cd ~/ros2_ws && colcon build
ros2 launch parol6_moveit real_robot.launch.py bridge_python:=/path/to/venv/bin/python3

The bridge_python must have the parol6 package installed. On Ubuntu 22.04 it does not install: the package needs Python 3.11 or newer, and on Linux its kinematics backend ships wheels only for glibc 2.39 or newer (Ubuntu 24.04), while 22.04 has Python 3.10 and glibc 2.35 (Installation). The interface's README gives the way round it: run parol6-server and the bridge on another machine, or under WSL2, where parol6 installs, and point the hardware interface's bridge_host parameter at it over the network.

The URDF

The robot description, URDF and MuJoCo with meshes and a version per tool, is in robot_descriptions, and an earlier URDF is inside the Python API (parol6/urdf_model). The gripper repositories have URDF and MJCF descriptions of the SSG-48 and MSG for attaching to it.

Other ROS 2 projects

parol6_commander, a web GUI on ROS 2 and MoveIt 2, and Parol6-firmware, alternative firmware with micro-ROS, are community projects (Community projects).

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