arm_api2

A ROS 2 and MoveIt2 API that gives a uniform control interface for several robotic manipulator arms, in simulation and on some real hardware.

Made by CroboticSolutions.

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 2a89c7a (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Provides one node, moveit2_iface, that exposes topic, service and action interfaces to command arm poses, joint positions and Cartesian paths.
Supports robot states for joint trajectory control, Cartesian trajectory control and end effector servoing.
Lists supported arms including UR, Kinova, Franka, Piper, ABB, CRX-10iA and SO-ARM100, with simulation and some real-robot support.
Includes teleoperation nodes for joystick and keyboard control, plus a servo watchdog that stops motion when commands stop arriving.
Offers planner selection, gripper control, and reachability and Cartesian path checks before executing a move.
Can be used with custom arms by creating a MoveIt configuration and matching config files.

Written by Robotheca from the project's README (opens in a new tab) at commit 2a89c7a.

Difficulty: Intermediate
Hardware it needs, as the project states it: Each arm needs its own driver or simulation package and a MoveIt config for that robot.
How to start: The project's README (opens in a new tab)

Status: Active: a commit in the last 90 days
Newest commit: 19 Oct 2026 on main
Latest release: Minor improvements and bugfix for the async planning (16 Nov 2025)

Checked on GitHub on 22 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.