MMP DAR

_images/mmp_r100.png

This specifies the configuration for Mobile Manipulation Platform (MMP) Dual ARM Ridgeback (DAR) version running ROS2 Jazzy. It features dual xARM850 manipulators with Robotiq 2F-140 grippers, a custom 3-axis rig system, Ouster 3D lidar, dual Hokuyo lidars, Intel RealSense and ZED2i cameras.

Important

Carefully review this document. If there are uncertainties, it is crucial to seek guidance from specialists, experts, or the manufacturers of the assemblies employed. The robot should not be activated until clarification is obtained. If any doubts persist, refer to the provided guides or get in touch with a specialist, expert, or the manufacturer of the assemblies used.

Warning

The robot supplied by MYBOTSHOP GmbH is intended for research and development purposes and does not bear the CE Marking and/or Certificate of Incorporation. A fundamental understanding of ROS2 (Robot Operating System 2) is necessary. If you lack familiarity with ROS2, we recommend consulting the ROS2 Documentation as a first step.

It is important to note that the mentioned robot is categorized as a partially completed machine according to the Machinery Directive 2006/42/EC and does not carry a CE marking.

Getting Started

For powering on and basic usage of the Ridgeback base, refer to the Clearpath Ridgeback documentation.

_images/ridgeback_clearpath_docs.webp

Data Sheets

Network Setup

MMP DAR Network Devices

Device

Network Address

Username

Password

R100 Computer

192.168.131.1

robot

mybotshop

R100 MCU

192.168.131.2

N/A

N/A

Webserver

192.168.131.1:9000

admin

mybotshop

Cockpit

192.168.131.1:9090

robot

mybotshop

Left xARM850

192.168.131.5:18333

N/A

N/A

Right xARM850

192.168.131.6:18333

N/A

N/A

Hokuyo Front

192.168.131.21

N/A

N/A

Hokuyo Rear

192.168.131.22

N/A

N/A

Ouster Lidar

192.168.131.30

N/A

N/A

Router

192.168.131.200

SSID

mybotshop

Quick Start ROS2

Power On

  1. Release the emergency stop button by turning it clockwise.

  2. Press the power button to turn on the robot.

  3. Wait for the robot to boot up completely (approximately 1-2 minutes).

  4. The Clearpath and MMP services will start automatically.

  5. Verify the webserver is accessible at http://192.168.131.1:9000.

Power Off

Warning

Always follow the proper shutdown procedure to prevent data corruption and hardware damage.

  1. Deactivate the rig system (if active):

ros2 service call /r100_0118/mmp_rig/activation \
  mmp_interface/srv/RigActivation \
  "{base_plate: false, left_plate: false, right_plate: false}"

  1. Disable xARM850 arms via the web interface or stop the driver services:

sudo systemctl stop mmp-xarm-driver-left.service
sudo systemctl stop mmp-xarm-driver-right.service

  1. Engage the emergency stop by pressing it down.

  2. Disconnect battery from Arms by clicking the red button.

  3. Shutdown the robot via SSH or Cockpit terminal:

sudo shutdown now

  1. Turn off the main power switch on the back of the Ridgeback.

Network Connection

  1. Connect to the robot’s WiFi network or via Ethernet.

  2. The robot IP address is 192.168.131.1.

  3. The WiFi password is mybotshop.

  4. Access the webserver at 192.168.131.1:9000.

  5. The webserver username is admin and password is mybotshop.

SSH Connection

ssh robot@192.168.131.1

Check Service Status

sudo systemctl status clearpath-robot.service
sudo systemctl status mmp-webserver.service

Teleoperation

Teleoperate using the keyboard teleop package:

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap cmd_vel:=/r100_0118/cmd_vel \
  --ros-args -p stamped:=true

Note

Replace r100_0118 with your robot’s namespace. Reduce speed by pressing z until 0.1 for safe indoor operation.

Visualization

View the robot state in RViz2:

ros2 launch mmp_viz view_robot.launch.py

Webserver

The webserver module comes pre-installed and should be accessible directly at http://192.168.131.1:9000/ or via the WiFi IP to which the robot is connected.

Login

  • Username: admin

  • Password: mybotshop

_images/web_login.webp

Dashboard

_images/web_dashboard.webp

  • View IP Address of the R100

  • View System load

_images/web_system.webp

Console

_images/web_console.webp

  • Enable/Disable the R100 ROS2 Services

  • Record System logs

  • Battery status monitoring

  • Pre-configured action buttons (adaptable to new ROS2 services)

  • Web Joystick for teleoperation

  • Online image stream

Remote Desktop (VNC)

Access on-board screen of the R100’s computer:

_images/web_vnc.webp

ROS2 Package Reference

Workspace Structure

The MMP R100 workspace is organized into two main categories: mybotshop (custom MBS packages) and third_party (external dependencies).

_images/workspace_structure.webp

mybotshop Packages

Custom MBS ROS2 Packages

Package

Description

mmp_bringup

System startup and service management

mmp_control

Base and manipulator controllers

mmp_depth_cameras

RealSense and ZED camera drivers

mmp_description

URDF/Xacro robot models

mmp_dual_uf850_moveit2

Dual arm MoveIt2 configuration

mmp_gazebo

Gazebo Fortress simulation

mmp_interface

Custom messages and services

mmp_lidars

Hokuyo and Ouster LiDAR drivers

mmp_nav2

Nav2 navigation stack configuration

mmp_rig

3-axis linear actuator control

mmp_robotiq_dual

Dual Robotiq 2F-140 gripper control

mmp_viz

RViz2 visualization configurations

mmp_webserver

Web dashboard and remote control

mmp_xarm

Dual xARM850 driver configuration

third_party Dependencies

External Dependencies

Category

Package

Description

robotic_arms

xarm_ros2

UFactory xArm drivers

robotic_arms

robotiq_gripper_ros2

Robotiq gripper drivers

robotic_arms

rq_fts_ros2

Robotiq FT sensor drivers

sensors

ouster-ros

Ouster OS1 LiDAR driver

sensors

zed_ros2

Stereolabs ZED2i driver

tools

ros2_laser_scan_merger

Multi-LiDAR scan fusion

tools

odom_to_tf_ros2

Odometry to TF publisher

Emergency Stop (E-Stop)

Warning

The Emergency Stop (E-Stop) is a critical safety mechanism. When activated, it immediately halts all motion on ALL connected systems.

E-Stop Connected Systems

The E-Stop circuit is connected to and controls the following systems:

E-Stop Connected Systems

System

Description

Ridgeback Mobile Base

Clearpath Ridgeback omnidirectional platform (disables wheels)

Rig System - Base Plate

Horizontal translation (Forward/Rear, 0-400mm range)

Rig System - Left Plate

Vertical lift for left arm (Up/Down, 0-500mm range)

Rig System - Right Plate

Vertical lift for right arm (Up/Down, 0-500mm range)

Left xARM850

6-DOF robotic arm with Robotiq 2F-140 gripper

Right xARM850

6-DOF robotic arm with Robotiq 2F-140 gripper

E-Stop Behavior

When E-Stop is ENGAGED (pressed):

  • All motors on the Ridgeback cease operation immediately

  • All three rig axes stop and hold position (brakes engage)

  • Both xARM850 arms enter emergency stop state (servos disabled)

  • All motion commands are ignored until E-Stop is released

When E-Stop is RELEASED:

Important

Systems do NOT automatically resume operation after E-Stop release.

Each system must be re-enabled manually:

  1. Ridgeback: Automatically recovers when E-Stop is released

  2. Rig System: Re-activate via service call:

ros2 service call /r100_0118/mmp_rig/activation \
  mmp_interface/srv/RigActivation \
  "{base_plate: true, left_plate: true, right_plate: true}"

  1. xARM850 Arms: Re-enable via xARM web interface or driver restart

Warning

If xARM850 arms fail to start after E-Stop release and you cannot hear clicking sounds, engage E-Stop again, wait 5 seconds, release, and retry enabling the arms.

Dual xARM850 Startup

  1. Ensure the robot arms are receiving power (flip the 50A lever towards its black counterpart).

  2. To enable, go to console in Dashboard (http://192.168.131.1:9000) and activate the xARM driver services.

  3. If the xARM850 doesn’t start and you can’t hear clicking sound, engage the emergency stop and release it after 5 seconds. Then try again either with the driver or their web interface at:

Rig Control

The 3-axis rig system provides positioning for the dual manipulator arms.

Rig Position Ranges

Rig Axis Position Ranges

Axis

Min

Max

Direction

Base Plate

0

400

0=Front, 400=Rear

Left Plate

0

500

0=Down, 500=Up

Right Plate

0

500

0=Down, 500=Up

Activation

# Activate rig system
ros2 service call /r100_0118/mmp_rig/activation \
  mmp_interface/srv/RigActivation \
  "{base_plate: true, left_plate: true, right_plate: true}"

# Deactivate rig system (recommended when not in use)
ros2 service call /r100_0118/mmp_rig/activation \
  mmp_interface/srv/RigActivation \
  "{base_plate: false, left_plate: false, right_plate: false}"

Position Control

Warning

Ensure arms are not in collision path before moving rig!

# Move to middle + mid position
ros2 service call /r100_0118/mmp_rig/control \
  mmp_interface/srv/RigControl \
  "{base_plate: 200.0, left_plate: 250.0, right_plate: 250.0}"

# Move to rear + highest position
ros2 service call /r100_0118/mmp_rig/control \
  mmp_interface/srv/RigControl \
  "{base_plate: 400.0, left_plate: 500.0, right_plate: 500.0}"

# Move to front + lowest position
ros2 service call /r100_0118/mmp_rig/control \
  mmp_interface/srv/RigControl \
  "{base_plate: 0.0, left_plate: 0.0, right_plate: 0.0}"

Velocity Control

For simple velocity-based movement:

# Stop all axes
ros2 topic pub /r100_0118/mmp_rig/cmd_vel \
  mmp_interface/msg/RigControlCmd \
  "{base_plate: 0, left_plate: 0, right_plate: 0}"

# Move base plate forward
ros2 topic pub /r100_0118/mmp_rig/cmd_vel \
  mmp_interface/msg/RigControlCmd \
  "{base_plate: 1, left_plate: 0, right_plate: 0}"

Dual xARM850 Control

Key Launch Files

  • custom_dualarm_drivers.launch.py - Launch both arms with custom configuration

  • include/xarm850_unit_1.launch.py - Left arm only

  • include/xarm850_unit_2.launch.py - Right arm only

Configuration

MoveIt2 Configuration

MoveIt2 configuration for dual UF850 (xARM850) manipulator motion planning. Provides motion planning, collision avoidance, and coordinated dual-arm control.


Planning Groups:

  • left_arm - Left xARM850 planning group

  • right_arm - Right xARM850 planning group

  • dual_arm - Coordinated dual-arm planning

Usage:

# Launch dual arm MoveIt
ros2 launch mmp_dual_uf850_moveit2 mbs_dual_arm.launch.py

# Launch visualizer
ros2 launch mmp_viz view_dualarm.launch.py

Note

Configure planner with OMPL -> TRRT (default). Ensure to see trails of planned path before execution.

Test xARM Trajectory

# Make Left Robot Arm Stand
ros2 action send_goal /r100_0118_uf1/uf850_ufactory_unit01_traj_controller/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [uf_left_joint1, uf_left_joint2,
      uf_left_joint3, uf_left_joint4,
      uf_left_joint5, uf_left_joint6],
    points: [{
      positions: [-0.003, 0.424, -0.907,
        -0.005, 0.241, 0.1],
      time_from_start: {sec: 5, nanosec: 0}
    }]
  }
}"

# Make Right Robot Arm Stand
ros2 action send_goal /r100_0118_uf2/uf850_ufactory_unit02_traj_controller/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [uf_right_joint1, uf_right_joint2,
      uf_right_joint3, uf_right_joint4,
      uf_right_joint5, uf_right_joint6],
    points: [{
      positions: [-0.003, 0.424, -0.907,
        -0.005, 0.241, 0.1],
      time_from_start: {sec: 5, nanosec: 0}
    }]
  }
}"

Dual Gripper Control

Dual Robotiq 2F-140 gripper control via xArm RS485 tool port.

Key Launch Files

  • gripper_left.launch.py - Left gripper controller

  • gripper_right.launch.py - Right gripper controller

Services

  • /r100_0118/gripper/left/open - Open left gripper

  • /r100_0118/gripper/left/close - Close left gripper

  • /r100_0118/gripper/left/set_position - Set left gripper position

  • /r100_0118/gripper/left/reset - Reset left gripper

  • (Same services available for right gripper)

Usage

# Launch gripper controllers
ros2 launch mmp_robotiq_dual gripper_left.launch.py
ros2 launch mmp_robotiq_dual gripper_right.launch.py

# Open/Close grippers via service
ros2 service call /r100_0118/gripper/left/open std_srvs/srv/Trigger
ros2 service call /r100_0118/gripper/left/close std_srvs/srv/Trigger

# Set gripper position (0=open, 255=closed)
ros2 service call /r100_0118/gripper/left/set_position \
  mmp_interface/srv/GripperCommand \
  "{position: 128, speed: 255, force: 100}"

# Reset gripper (use when gripper stops responding)
ros2 service call /r100_0118/gripper/left/reset std_srvs/srv/Trigger

MoveIt Action Interface

Position in radians: 0.0=open, 0.7=closed

# Open gripper fully (0.0 rad)
ros2 action send_goal \
  /r100_0118/left_gripper_controller/gripper_cmd \
  control_msgs/action/GripperCommand \
  "{command: {position: 0.0, max_effort: 50.0}}"

# Close gripper fully (0.7 rad)
ros2 action send_goal \
  /r100_0118/left_gripper_controller/gripper_cmd \
  control_msgs/action/GripperCommand \
  "{command: {position: 0.7, max_effort: 50.0}}"

Note

MoveIt sends position as joint angle in radians (matching URDF finger joint limits 0-0.7 rad).

Monitor Gripper Joint States

ros2 topic echo /r100_0118/robotiq_2f_140/left/joint_states
ros2 topic echo /r100_0118/robotiq_2f_140/right/joint_states

LiDAR Sensors

Key Launch Files

  • combined_scan.launch.py - Merges multiple LiDAR scans

  • include/hokuyo_f.launch.py - Front Hokuyo UST-20LX

  • include/hokuyo_r.launch.py - Rear Hokuyo UST-20LX

  • include/ouster.launch.py - Ouster OS1 3D LiDAR

IP Configuration

LiDAR Sensor IPs

Sensor

IP Address

Hokuyo Front

192.168.131.21

Hokuyo Rear

192.168.131.22

Ouster

192.168.131.30

Depth Cameras

Key Launch Files

  • realsense_i.launch.py - First RealSense camera (D405)

  • realsense_ii.launch.py - Second RealSense camera (D455)

  • zed.launch.py - ZED2i stereo camera

Note

Running Ouster and RealSense simultaneously may cause camera latency due to high bandwidth usage. Consider using one or the other for optimal performance.

Simulation

The R100 simulation package uses ROS2 Jazzy with Gazebo Fortress, featuring the complete MMP platform with dual xArm850 arms, Robotiq grippers, FT300 sensors, and adjustable rig on a Clearpath Ridgeback base.


Prerequisites

  • ROS 2 Jazzy

  • Gazebo Fortress

  • gz_ros2_control

  • Clearpath robot packages

Launch Simulation

export ROS_LOCALHOST_ONLY=1
source /opt/ros/jazzy/setup.bash
source /opt/mybotshop/install/setup.bash
ros2 launch mmp_gazebo simulation.launch.py

To kill Gazebo zombie processes:

ros2 run mmp_gazebo kill_gz.sh

Environment Variables

Configure the simulation using environment variables before launch:

Simulation Environment Variables

Variable

Default

Description

MMP_RIDGEBACK_GAZEBO

1

Enable Gazebo simulation mode

MMP_RIDGEBACK_RIG

1

Include rig (tower + brackets)

MMP_RIG_PLATE_JOINTS

1

Enable rig joint control

MMP_RIDGEBACK_XARM850

1

Include dual xArm850 arms

MMP_RIDGEBACK_OUSTER

0

Include Ouster lidar

MMP_RIDGEBACK_ZED

0

Include ZED2i camera

MMP_RIDGEBACK_FT

1

Include Robotiq FT300 sensors

MMP_RIDGEBACK_GRIPPER

1

Include Robotiq 2F-140 grippers

MMP_RIDGEBACK_GRIPPER_D405

0

Include Intel D405 cameras

Available Controllers

Gazebo Controllers

Controller

Description

joint_state_broadcaster

Publishes joint states

platform_velocity_controller

Base movement (4 wheels)

uf_left_arm_controller

Left xArm850 (6 joints)

uf_right_arm_controller

Right xArm850 (6 joints)

rig_position_controller

Tower + brackets (3 joints)

uf_left_gripper_controller

Left Robotiq 2F-140

uf_right_gripper_controller

Right Robotiq 2F-140

Check controllers:

ros2 control list_controllers -c /r100_0118/controller_manager

RViz2 Visualization

ros2 launch mmp_viz view_robot.launch.py

Teleoperation (Keyboard)

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap cmd_vel:=/r100_0118/cmd_vel \
  --ros-args -p stamped:=true

Move Arms in Simulation

# Move left arm
ros2 action send_goal \
  /r100_0118/uf_left_arm_controller/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [uf_left_joint1, uf_left_joint2,
      uf_left_joint3, uf_left_joint4,
      uf_left_joint5, uf_left_joint6],
    points: [{
      positions: [-1.57, 1.57, 0.0, 0.5, 0.0, 0.0],
      time_from_start: {sec: 2}
    }]
  }
}"

Move Rig in Simulation

# Raise tower and extend brackets
ros2 action send_goal \
  /r100_0118/rig_position_controller/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [ridgeback_tower_xarm850_joint,
      ridgeback_xarm850_bracket_left_joint,
      ridgeback_xarm850_bracket_right_joint],
    points: [{
      positions: [0.2, 0.3, 0.3],
      time_from_start: {sec: 2}
    }]
  }
}"

Control Grippers in Simulation

# Open left gripper (0.0 = open)
ros2 action send_goal \
  /r100_0118/uf_left_gripper_controller/gripper_cmd \
  control_msgs/action/GripperCommand \
  "{command: {position: 0.0, max_effort: 100.0}}"

# Close left gripper (0.695 = closed)
ros2 action send_goal \
  /r100_0118/uf_left_gripper_controller/gripper_cmd \
  control_msgs/action/GripperCommand \
  "{command: {position: 0.695, max_effort: 100.0}}"

Installation

ROS2 Jazzy Fresh Installation

  1. Install ROS Jazzy and Clearpath packages:

sudo apt-get install ros-jazzy-clearpath-* -y
sudo apt update && sudo apt upgrade

  1. Run the Clearpath computer installer script:

cd mbs_ridgeback/src/mybotshop/mmp_bringup/scripts
bash clearpath_computer_installer.sh

Add R100 Ridgeback when prompted.

  1. Start the Clearpath service:

sudo systemctl daemon-reload
sudo systemctl start clearpath-robot.service

  1. Create the mybotshop workspace directory:

sudo mkdir /opt/mybotshop
sudo chown -R robot:robot /opt/mybotshop
sudo chown -R robot:robot /etc/clearpath

  1. Copy the workspace to /opt/mybotshop/ and run the dependency installer:

cd /opt/mybotshop/src
./ros2_dependencies

  1. Build the workspace:

cd /opt/mybotshop
colcon build --symlink-install \
  --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

  1. Install custom sensor services:

ros2 run mmp_bringup startup_installer.py

  1. Disable system suspend:

sudo systemctl mask sleep.target suspend.target \
  hibernate.target hybrid-sleep.target

Sync Host Computer to Robot

To sync your development workspace to the robot:

rsync -avP -t --delete -e ssh src \
  administrator@192.168.131.1://opt/mybotshop

Caution

  • Always remain close to the emergency stop buttons.

  • Power off the robot correctly via the proper shutdown procedure.

  • Sudden jerks to the mobile robot can cause a disconnection. The velocity provided should always be smooth.

  • Ensure arms are not in collision path before moving the rig system.

Known Issues

  • xARM850 not starting:

    • If the xARM850 doesn’t start and you can’t hear clicking sounds, engage the emergency stop and release it after 5 seconds. Then try again.

  • Camera latency:

    • Running Ouster and RealSense simultaneously may cause latency. Consider using one or the other for optimal performance.

Safety Guidelines

For comprehensive safety guidelines regarding robotic manipulators and autonomous mobile robots, please refer to the Robotic Manipulator Safety section.