YARP Cartesian controller layers over ROS 2 for teleoperation and web applications
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12252Keywords:
Humanoid robots, Robots manipulators, Teleoperation, Human-robot interfaces, Web interfacesAbstract
Our previous works elaborated on a teleoperation architecture for robot arm manipulators orchestrated by the YARP robotics framework and middleware. A distributed layout of software components eased the adoption of new peripherals for teleoperation, and different control modes were explored. In this work, we propose a bridge between existing YARP elements and the Robot Operating System (ROS) ecosystem of packages and tools. Our custom Cartesian controller and C++ interfaces underpinned the new implementation, exposing robot commands and 3D configuration over the ROS 2 network. It took the form of a teleoperation app using the low-cost SpaceMouse 3D joystick, and a web app built with the React JavaScript library. Both have been tested and validated in real robots and simulation: on the TEO humanoid robot platform and the AMOR assistive robotic arm.
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Copyright (c) 2025 Bartek Łukawski, Mercedes Rebollo, Ángel Gilabert, Juan G. Victores, Carlos Balaguer, Alberto Jardón
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