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ARM Cell v0.2.0

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@dev-kibeom dev-kibeom released this 08 Oct 05:40
· 2 commits to main since this release
v0.2.0
000b0fc

ARM Cell v0.2.0

ARM Cell is a simulator-backed ROS 2 workcell for developing and evaluating a Doosan M0609 robot with a Robotiq 2F-85 gripper. This source release publishes the ROS components, interfaces, simulation integration, and technical documentation for the current pick-and-place cell.

Highlights

  • Request-driven RGB-D target detection with detector profiles and source-frame diagnostics.
  • MoveIt 2 motion tasks for PICK, PLACE, GO_HOME, and controlled recovery.
  • Orchestration of material readiness, mission progress, and authorized recovery.
  • Software Safety supervision with fail-closed startup, motion capability, and a direct stop path to Motion.
  • Simulated material handoff, a VDA/external-state mock, and an Isaac Sim UI Hub.
  • Shared ROS interfaces that keep component state ownership and simulator-specific behavior separated.

Technology

  • ROS 2 Humble
  • Isaac Sim 5.1
  • MoveIt 2
  • C++ / rclcpp, Python, Xacro, TF2, OpenCV, and OMPL

Build and documentation

Build the ROS workspace in Docker from the repository root:

docker build --progress=plain -t sftwin-arm-cell:humble .

The Docker build is for image construction and ROS compilation. It does not run ROS nodes or provide Isaac Sim. The successful Public PR #2 build completed 11 packages through arm_cell_bringup; the Dockerfile and ROS source have not changed since that verification. Package compiler warnings were reported in arm_cell_bt, arm_cell_motion_moveit2, and arm_cell_vision.

Validation scope and limitations

The Docker build verifies compilation, not a running Isaac Sim session. Historical reports document robot-only planning and a bounded static-scene acceptance profile; they do not establish full mission live acceptance. The v0.2.0 source has not been validated as a complete live Isaac Sim mission or on a physical robot.

Vision can intermittently fail to acquire a usable RGB-D pair before detector processing begins; the cause remains under investigation. The VDA/external-state adapter is a mock subset, not full VDA 5050 or AMR navigation. Software Safety is not safety-rated E-stop/STO hardware and does not replace it.

License and third-party materials

Project-owned code is available under the MIT License. Robotiq and Doosan materials retain their upstream terms and provenance. See Third-Party Notices and the included upstream license files before redistributing those assets. The notices preserve the recorded Doosan license declarations without asserting that the assets are dual-licensed.

This release uses GitHub-generated source archives. No Docker image or ROS binary is included.

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