Warning

Important Notice: The DynaArm is currently a prototype and not ready for commercial use. It is intended solely for research and development purposes. Users are responsible for ensuring safe operation during its use.

Setup Controller PC

This section explains how to set up your workspace and hardware environment for using the DynaArm.

Prerequisites

This guide provides the prerequisites needed to prepare your workspace and hardware for operating the DynaArm.

General Requirements

Ubuntu 24.04 (or a similar Linux distribution).
A native gigabit Ethernet port is recommended. USB-to-Ethernet adapters may work but could introduce latency or reliability issues.

Realtime Setup (Hardware Only)

Real-time capability is required for hardware interaction. Follow the instructions in the realtime section.

Installing ROS 2 Jazzy

Install ROS 2 Jazzy natively by following the official guide.

Note

Currently, only ROS 2 Jazzy is supported. For compatibility with other versions, please contact us.

Create Your ROS 2 Workspace

Create a new workspace directory:

mkdir -p dynaarm_demo_workspace/src && cd dynaarm_demo_workspace

Clone Repositories into Workspace

Option 1 - Automatic Cloning

If you are not already inside the workspace directory created in step 3, switch to this directory:

cd dynaarm_demo_workspace

Download the repos.list file into the workspace for automatic cloning:

repos.list

wget https://docs.duatic.com/_static/repos.list

Clone the necessary repositories:

vcs import src < repos.list

Option 2 - Manual Cloning

Clone each repository listed in repos.list manually into the src directory of your workspace.

Build the Code / Workspace

First, install all dependencies:

rosdep init
rosdep update
rosdep install -r --from-paths ./src --ignore-src --rosdistro $ROS_DISTRO -y

Exclude the simulation and test packages from the cartesian_controllers repository by placing a COLCON_IGNORE file in the respective directories:

touch src/cartesian_controllers/cartesian_controller_simulation/COLCON_IGNORE
touch src/cartesian_controllers/cartesian_controller_tests/COLCON_IGNORE

Build the workspace:

colcon build

Source your workspace after building:

source install/local_setup.bash