Integrating YARP and ROS 2 for web-based and embedded robot GUIs
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13858Keywords:
Collaborative robot, Externally Guided Motion, Graphical user interface, Humanoid robot, ROS 2, YARPAbstract
A graphical user interface (GUI) in robotics aids the operator in gaining insight on the robot state and configuration, and issuing motion commands, among others. We seek to fulfill these goals in the proposed software architectures by adopting GUI design frameworks (React with Vite and Blender, TouchGFXDesigner) and robotic middlewares (ROS 2, YARP). For practical demonstration, the ABB CRB 15000-5 "GoFa" cobot and the humanoid robot TEO have been considered. For the former, we leverage ROS 2 to communicate the robot through a control node wrapping the ABB Externally Guided Motion (EGM) interface, and introduce a Node.js web application that bridges the ROS 2 network via WebSockets while staying responsive to different screen sizes and resolutions of the user device. For the latter, an embedded graphical and touch-based application was designed with STM tools to run on an Mbed board connected to the YARP network of the robot.
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Copyright (c) 2026 Bartek Łukawski, Grigor Hovhannisyan Mkhitaryan, Lucía Menéndez Reques, Iñaki Ureta Sanz, Juan G. Victores, Alberto Jardón Huete
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
