Exploiting ROS2 to facilitate end-effectors
integration and control
Liana Bertoni1,3, Davide Torielli1,2, Nikos Tsagarakis1, and Luca Muratore1
1 Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia, Genova, Italy

2 Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Genova, Italy
3 Dipartimento di Ingegneria Informatica (DII), University of Pisa, Pisa, Italy

RATIONALE• High Number of different
End-Effectors• Large variety of structures(kinematic, actuators, interfaces)• Complex integration2RATIONALE• High Number of different
End-Effectors

Developa offramework• Largevariety
structures aimed to abstract each end-effector fromits mechanicalinstructions and plan at higher level(kinematic,actuators, interfaces)• Complex integration

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ROS END-EFFECTOR• ROS-based hardware-agnostic control framework• Simplify integration of new End-Effectors(few model description information required)

URDF
SRDF

• Automatic extraction of End-Effector capabilities(Primitive Grasping Actions)

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FRAMEWORKEXTRACTION PHASEEXECUTION PHASEOFFLINEONLINE

5

FRAMEWORKURDF
SRDF

OFFLINE

6FRAMEWORK

URDF
SRDF

Primitive
Grasping
ActionPRIMITIVE
GRASPING ACTIONSEXTRACTOROFFLINE

7FRAMEWORK

URDF
SRDF

PRIMITIVE
GRASPING ACTIONSEXTRACTOROFFLINE

Primitive
Grasping
ActionCustomGrasping
Action8FRAMEWORK
URDF
SRDF

Primitive
Grasping
ActionCustomGrasping
ActionInitialization

ROS
End-Effector
Executor

ONLINE

9FRAMEWORK
URDF
SRDF

Primitive
Grasping
ActionCustomGrasping
ActionInitialization
Grasping Action
Command

ROS
End-Effector
GUI
Other
Nodes

ONLINEROS
End-Effector
Executor

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FRAMEWORK
URDF
SRDF

Primitive
Grasping
ActionCustomGraspingAction

Initialization
Grasping Action
Command

ROS
End-Effector
GUI
Other
Nodes

ONLINE

Motor Position
Reference

ROS
End-Effector
Executor

Low-Level
Reference

ROS
End-Effector
HAL

11FRAMEWORK
URDF
SRDF

Primitive
Grasping
ActionCustomGrasping
ActionInitialization
Grasping Action
Command

ROS
End-Effector
GUI
Other
Nodes
Grasping Action
Feedback

ONLINE

Motor Position
Reference

ROS
End-Effector
Executor

Low-Level
Reference

ROS
End-Effector
HAL
Motor Position
Feedback

Robot
Feedback

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ROS 2 INTEGRATION

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ROS 2 INTEGRATION
Topics, Services, Actions
Launch Filescatkincolconament14

ROS 2 INTEGRATION
Topics, Services, Actions
Launch Filescatkincolconament

Parameter
Server15ROS 2 INTEGRATION
Topics, Services, Actions
Launch Filescatkincolconament

Parameter
ServerCollisions (FCL)

Collisions (FCL)

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ROS 2 INTEGRATION
Topics, Services, Actions
Launch Filescatkincolconament

Parameter
ServerCollisions (FCL)Standard C methods (dlopen)
For HAL dynamic loading

Collisions (FCL)ROS2 PluginLib

For HAL dynamic loading
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HAL…

Heri II HAL

The ROS End-Effector HAL
abstracts the low-level detailsof the end-effector

ROS
End-Effector
HAL

Other End-Effectors
HAL

Dummy HAL
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GUI
Initialization

ROS
End-Effector
GUI

GUI
Initialization(ROS2Services)

ROS
End-Effector
Executor

19

GUI
Initialization

ROS
End-Effector
GUI

GUI
Initialization(ROS2Services)

ROS
End-Effector
Executor

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DOCS & CODE
• ROS-Industrial Focused Technical Project (ROSIN-FTP)
https://www.rosin-project.eu/ftp/ros-end-effector• ROS End-Effector source code

https://github.com/ADVRHumanoids/ROSEndEffector
https://github.com/ADVRHumanoids/ROSEndEffector2• ROS End-Effector documentation

https://advrhumanoids.github.io/ROSEndEffectorDocs/• Available in the ROS official repository :ros-melodic-end-effector ros-noetic-end-effectorros-foxy-end-effector (ROS2)

Read the Docs(ROS)

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PUBLICATIONS• D. Torielli, L. Bertoni, N. Tsagarakis, and L. Muratore, "Towards an Open-Source Hardware
Agnostic Framework for Robotic End-Effectors Control", 2021 20th International Conference on
Advanced Robotics (ICAR), 2021, pp. 688-694, doi: 10.1109/ICAR53236.2021.9659331• L. Bertoni, D. Torielli, Y. Zhang, N. Tsagarakis, and L. Muratore, "Towards a Generic Grasp
Planning Pipeline using End-Effector Specific Primitive Grasping Actions", 2021 20th
International Conference on Advanced Robotics (ICAR), 2021, pp. 722-729, doi:
10.1109/ICAR53236.2021.9659402• D. Torielli, L. Bertoni, N. Tsagarakis, and L. Muratore, "ROS End-Effector: A Hardware-Agnostic
Software and Control Framework for Robotic End-Effectors", submitted for publication

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THANK YOU FOR YOUR ATTENTION !
ANY QUESTIONS?

Exploiting ROS2 to facilitate end-effectors integration and control
Davide Torielli, Liana Bertoni, Nikos Tsagarakis, and Luca Muratore