ARX (方舟无限)

CAN hardware interface plugins for ARX X5 / Acone (dual-arm) and Lift 2S lift + chassis.

Repository: fiveages-sim/arx-ros2-control · README

Plugin	Role
arx_ros2_control/ArxX5Hardware	One instance per arm (X5 SDK). MIT MIX: position + velocity + effort; kp/kd from joint_k_gains / joint_d_gains
arx_ros2_control/ArxLiftHardware	Lift2S column (default CAN can5). hybrid or soft_p / position; optional /cmd_vel chassis

Acone hardware:=real xacro uses arx_ros2_control/ArxX5Hardware (ros2_control in This Stack). Field how-to: ARX Lift 2S.

URDF <param> are also declared as node parameters so rqt / ros2 param set can change the Runtime rows. How to read Startup only / Runtime: Hardware Interfaces.

arx_ros2_control/ArxX5Hardware

control_mode other than full_control is warned and ignored. robot_model is hardcoded X5 (not a ROS param).

Parameter	Type / default	When	Meaning
can_interface	string / "can0"	Startup only	CAN device (README: single-arm right often can3)
control_mode	string / "full_control"	Startup only	Only full_control (MIT MIX) is honored
joint_k_gains	double[6] / [80, 70, 70, 30, 30, 20]	Runtime	MIT kp. README: Lift2S field default [20,20,20,20,10,10]
joint_d_gains	double[6] / [2, 2, 2, 1, 1, 0.7]	Runtime	MIT kd. README: Lift2S field default [0.8,0.8,0.8,0.8,0.5,0.5]
gripper_kp	double / 5.0	Runtime	夹爪 kp
gripper_kd	double / 0.2	Runtime	夹爪 kd
shutdown_return_home	bool / false	Startup only	Interpolate to shutdown_home on deactivate
shutdown_home	double[6] / zeros	Startup only	Shutdown pose
shutdown_home_velocity	double / 0.3	Startup only	Shutdown interp speed
shutdown_home_timeout	double / 2.0	Startup only	Shutdown timeout (s)
status_debug	bool / false (source)	Runtime	Extra MIT/status logs

arx_ros2_control/ArxLiftHardware

URDF keys from on_init. README chassis table says Lift2S xacro often sets enable_chassis_cmd_vel true; source default is false.

Parameter	Type / default	When	Meaning
can_name	string / "can5"	Startup only	Lift CAN
robot_type	int / 2	Startup only	0 LIFT / 1 X7S / 2 LIFTS
lift_motor_mode	string / "hybrid"	Startup only	hybrid or soft_p / position. Live switch is the node param below
hybrid_kp	double / 5.0	Startup only	Hybrid kp. Seed for arx_lift.hybrid_kp
hybrid_kd	double / 2.0	Startup only	Hybrid kd (alias kd)
soft_p_kp	double / 50.0	Startup only	Position-mode kp (aliases lift_kp, kp)
gravity_compensation_torque	double / -1.01	Startup only	Gravity feedforward
coulomb_friction_torque	double / 0.32	Startup only	Coulomb friction
friction_vel_eps_mps	double / 0.01	Startup only	Friction deadband (m/s)
lift_max_vel	double / 0.20	Startup only	Max lift speed
lift_max_torque	double / 15.0	Startup only	Max torque
height_rad_per_meter	double / 41.54	Startup only	m↔rad (alias height_to_motor)
height_span_m	double / 0.48	Startup only	Stroke (alias max_height_m)
sdk_max_rad	double / 20.0	Startup only	SDK angle cap
cmd_ramp_vel	double / 0.04	Startup only	Shutdown-home ramp only
enable_chassis_cmd_vel	bool / false	Startup only	Subscribe Twist → chassis
chassis_cmd_vel_topic	string / "/cmd_vel"	Startup only	Chassis Twist topic
chassis_cmd_timeout	double / 0.3	Startup only	Stop after timeout (s)
chassis_max_vel_x / _y / _z	double / 2 / 2 / 4	Startup only	Chassis quantize limits (README: LIFTS .so omits these)
shutdown_return_home	bool / false	Startup only	Return to shutdown_height_m on exit
shutdown_height_m	double / 0.0	Startup only	Shutdown height
shutdown_home_velocity	double / 0.10	Startup only	Shutdown speed
shutdown_home_timeout	double / 2.0	Startup only	Shutdown timeout
status_debug	bool / false	Runtime	Debug logs. Also a node param

On activate, Lift also declares these node parameters (add_on_set_parameters_callback):

All rows in this table are Runtime.

Parameter	Seeded from	Meaning
arx_lift.motor_mode	lift_motor_mode	hybrid or soft_p/position
arx_lift.soft_p_kp	soft_p_kp	Same as the URDF seed, as a node parameter
arx_lift.hybrid_kp / arx_lift.hybrid_kd	hybrid_kp / hybrid_kd	Same as the URDF seed, as a node parameter
arx_lift.gravity_compensation_torque	same URDF key	Same as the URDF seed, as a node parameter
arx_lift.coulomb_friction_torque	same	Same as the URDF seed, as a node parameter
arx_lift.friction_vel_eps_mps	same	Same as the URDF seed, as a node parameter