Naming Conventions

Names that this docs set actually uses, from robot_common_launch and deploy-ws / controller READMEs.

Brand EN/ZH labels follow robot_usds README_zh-CN.md §3.1. ARX is 方舟无限. HighTorque / Panthera is 高擎. Repo and script names stay as quoted (arx-lift2s, ./init_repo.sh).

Launch arguments (robot_common_launch)

robot:= selects the description package ({robot}_description). It is not launch type (EEF / topology).

Argument	Purpose	Notes
robot	Description key	Resolves {robot}_description. Examples used in READMEs / how-tos: cr5 (OCS2 demo default), arx_acone, arx_lift2s, panthera_ht
chassis	Chassis model	Profile platform.chassis. Empty = do not pass to xacro
arms	Dual-arm kit	Profile platform.arms. Does not merge config/ros2_control/{arms}.yaml. Empty = do not pass to xacro
variant	Platform variant (appearance, column, …)	Profile platform.variant. May merge config/ros2_control/{variant}.yaml if that file exists. Empty = do not pass to xacro
chassis_joints_movable	Chassis joints movable	Profile platform.chassis_joints_movable. true / false. Empty = do not pass to xacro
type	Symmetric end-effector key, or arm topology left / right / dual	Topology does not expand to left_type / right_type
left_type / right_type	Different L/R EEF keys	Example keys: rg75, ag2f90_c, linkerhand_o7. Do not pass type:= with them
use_profile_eef	Apply profile defaults.end_effectors (default true)	false forces CLI EEF
robot_profile	Machine-profile YAML path	Merge: CLI > profile > xacro defaults
ft / left_ft / right_ft	Force-torque	Not gated by use_profile_eef. Example: kwr75_485
hardware	Plugin / overlay key	See below

Platform slots (chassis / arms / variant / chassis_joints_movable) resolve CLI > profile platform.* > that robot’s xacro/robot.xacro default. create_platform_launch_arguments() declares chassis / arms / chassis_joints_movable (humanoid / full_body / split_body / demo; bare manipulator launches omit that set). variant is declared with create_robot_profile_launch_arguments().

There is no gripper:= / gripper_type:=. Full merge: robot_common_launch.

ros2 launch ocs2_arm_controller demo.launch.py robot:=dobot_cr5

ros2 launch ocs2_arm_controller demo.launch.py \
  use_profile_eef:=false \
  left_type:=rg75 right_type:=linkerhand_o7

hardware:=

Passed through as xacro ros2_control_hardware_type (build_xacro_mappings()).

Value	Meaning
mock_components	Default on ocs2_arm_controller demo.launch.py and basic_joint_controller demo.launch.py
gz	Gazebo
isaac	Isaac (topic_based_ros2_control); may merge config/ros2_control/isaac.yaml if present
real	Vendor hardware interface; profile hardware: YAML applies only here

There is no documented hardware:=mock key. Plugins: ros2_control in This Stack.

Packages (examples that exist)

Kind	Pattern / example	Source
Description umbrella	src/robot-descriptions/…	open-deploy-ws README
Brand descriptions	robot-descriptions-arx (arx_acone_description, arx_lift2s_description, …)	robot-descriptions-arx
Controllers	basic_joint_controller, ocs2_arm_controller, adaptive_gripper_controller	arms_ros2_control
Isaac hardware interface	topic_based_ros2_control	arms_ros2_control README

Teleop packages are listed on the teleop reference pages (there is no arms_teleop_controller package in those READMEs).

Topics

Topic	Type	Source
/fsm_command	std_msgs/Int32	FSMCommandPublisher / basic_joint README (1 HOME, 2 HOLD, 3 OCS2 / legacy MOVEJ, 4 MOVEJ)
/{controller}/target_joint_position	std_msgs/Float64MultiArray	basic_joint MoveJ

Per-controller lists: FSM and Topics. No /joint_commands JointState contract and no /target_pose universal API in the READMEs cited here.

Frame names (base_link, left_ee_link, …) are per robot URDF. Do not assume a stack-wide frame table.