Feature/arduino hardware bridge by aj0khi · Pull Request #18 · Waybionic/waybionic_ground_station

aj0khi · 2026-09-12T16:38:05Z

Arm Hardware and Motion Architecture

Goal

Use the same four-joint arm model in RViz for both simulation and a connected
Arduino, while allowing the motion test to command the physical arm and report
failures instead of only animating a simulated pose.

The current model is old_arm_prototype.urdf with these joints:

base_yaw
shoulder
elbow
wrist_roll

Current State

MotionTestNode -- /joint_states --> robot_state_publisher --> RViz RobotModel
       ^
       |
RViz MotionTestPanel -- String RUN/HOME/STOP

The motion test currently publishes generated positions directly to
/joint_states. That is suitable for visualization, but it is not a hardware
control path: it represents commanded positions as if they were measured
positions.

There is currently no Arduino transport, encoder feedback path,
ros2_control hardware plugin, trajectory controller, or motion action in the
workspace.

The archived handoff provides a usable first transport contract:

Arduino Uno R4 WiFi at 115200 baud over USB serial.
Servo signals: D3 base_yaw, D4 shoulder, D5 elbow, D6 wrist_roll.
Hold switch: D7 to ground using INPUT_PULLUP.
Commands: ID, MOVE,s1,s2,s3,s4,durationMs, JOG,servo,delta,durationMs,
and HOLD.
Responses: READY,IK4,1, OK,MOVE, OK,JOG, OK,ARRIVED, OK,HOLD,
OK,SWITCH HOLD, and ERROR,....

The firmware interpolates commands internally every 20 ms and has software
limits, but it does not stream measured servo angles. Its OK,ARRIVED response
means the command timeline completed, not that the mechanism was measured at
the target.

Target Runtime Architecture

                         command path
RViz MotionTestPanel or motion_test
              |
              | FollowJointTrajectory action
              v
joint_trajectory_controller
              |
              v
waybionic_hardware (ros2_control SystemInterface)
              |
              | serial/USB protocol
              v
Arduino + servo hardware
              |
              | command status, health, errors
              v
waybionic_hardware
              |
              +--> /joint_states --> robot_state_publisher --> RViz
              |
              +--> /diagnostics --> DiagnosticsPanel

The current Arduino firmware has no encoder or potentiometer feedback. It
reports command acceptance and arrival, but not measured servo positions. In
the first physical integration, the host bridge can publish an estimated
/joint_states pose from the accepted command timeline. RViz will then show
the commanded pose, not verified mechanical position. When real feedback is
added, measured state should replace that estimate.

Runtime Modes

Simulation

motion_test simulation publisher --> /joint_states --> robot_state_publisher

This preserves the existing visual motion test. It must not run at the same
time as the physical hardware state publisher.

Physical Hardware

motion_test/action client --> trajectory controller --> Arduino
Arduino command status --> estimated /joint_states --> robot_state_publisher --> RViz

The launch file should select exactly one mode, for example with a
hardware_mode argument whose values are simulation and arduino.

ROS Interfaces

These are the proposed stable interfaces between packages:

Purpose	Interface
Joint position estimate or measurement	`/joint_states`, `sensor_msgs/msg/JointState`
Motion command	`/joint_trajectory_controller/follow_joint_trajectory`, `control_msgs/action/FollowJointTrajectory`
Optional lower-level command stream	`/joint_trajectory_controller/joint_trajectory`, `trajectory_msgs/msg/JointTrajectory`
Hardware and safety state	`/diagnostics`, `diagnostic_msgs/msg/DiagnosticArray`

The motion test should become an action client. Actions provide acceptance,
feedback, completion, cancellation, and failure results, which the current
RUN/HOME/STOP string topic cannot provide.

The existing string topic can remain temporarily as a simulation-only adapter
while the action path is introduced.

The first bridge implementation is available as waybionic_hardware and
accepts the existing /old_arm_motion_test/command topic. It translates
RUN, HOME, and STOP into the firmware protocol, publishes the estimated
pose, and publishes connection/command status on /diagnostics.

Package Responsibilities

`waybionic_description`

Own the production URDF and joint limits.
Add a ros2_control block for the four actuated joints.
Keep the physical-to-model calibration in one documented place.

New `waybionic_hardware`

Own the Arduino transport and packet protocol.
Convert model radians to calibrated servo commands.
Convert accepted command state to model radians until real sensors exist.
Replace estimated state with measured state when encoders or potentiometers
are added.
Publish hardware diagnostics and connection/watchdog faults.
Refuse motion when disconnected, stale, out of range, or stopped.

The first implementation can use a small serial bridge if a full
ros2_control plugin is not yet ready. The public ROS interfaces should still
match the target design so the bridge can later be replaced without changing
RViz or the motion test.

`waybionic_motion_test`

Generate safe, bounded test trajectories.
Send trajectories through the controller/action interface.
Verify Arduino acknowledgment and arrival reports for each target.
Verify measured feedback against each target once sensors are available.
Abort on action failure, stale feedback, limit violation, or timeout.
Keep a simulation implementation for development without hardware.

It must not publish synthetic /joint_states in physical mode.

`waybionic_rviz_plugins`

Keep the existing RobotModel visualization.
Update MotionTestPanel to use the action interface.
Show connection, current joint values, target, progress, and failure reason.
Keep emergency stop separate from normal test completion.

`waybionic_bringup`

Select simulation or Arduino mode.
Start robot_state_publisher in both modes.
Start the simulation publisher only in simulation mode.
Start hardware and controllers only in Arduino mode.
Prevent both state publishers from running together.

Safety Rules

Start in a verified HOME pose before running a sequence.
Enforce URDF position and velocity limits before sending commands.
Require a hardware heartbeat and stop on a stale heartbeat.
Stop on serial disconnect, malformed feedback, over-current, or an
Arduino-reported fault.
Treat the stop command as cancellation plus a hardware stop request; do not
merely stop publishing messages.
Require an explicit physical-mode launch argument so a development launch
cannot move the arm accidentally.
Keep the first physical test at low speed with one joint at a time before
running synchronized trajectories.

Incremental Implementation Plan

Define the contract: confirm Arduino transport, feedback availability,
servo calibration, joint limits, and the Arduino packet format.
Separate modes: add launch arguments and prevent the current simulated
/joint_states publisher from starting in physical mode.
Build the transport: add waybionic_hardware with connection state,
heartbeat, command conversion, command-state estimation, and diagnostics.
Add standard control: connect the transport to ros2_control and load a
joint state broadcaster plus trajectory controller.
Convert the test: send bounded trajectories through the action and
verify Arduino arrival status against each target. Add measured-feedback
verification when sensors become available.
Upgrade the panel: display action and hardware state, and expose stop
only when the controller reports the arm is connected.
Validate progressively: test conversion math, then a fake serial device,
then RViz with recorded feedback, and only then the physical arm.

Current Bringup Commands

Simulation remains the default:

ros2 launch waybionic_bringup ground_station.launch.py

Arduino mode requires an explicit serial port:

ros2 launch waybionic_bringup ground_station.launch.py \
   hardware_mode:=arduino arduino_port:=/dev/ttyACM0

The bridge can be exercised without an Arduino:

ros2 launch waybionic_bringup ground_station.launch.py \
   hardware_mode:=arduino arduino_dry_run:=true launch_rviz:=false

The first physical test should use the external servo-power switch, confirm
the arm is supported and clear, then use HOME before RUN. The current
bridge intentionally does not claim measured position feedback.

Definition of Done

RViz follows the Arduino command estimate in the first physical version and
measured feedback once sensors are added.
The motion test moves the physical arm through a bounded sequence.
A disconnected or faulted Arduino prevents motion and is visible in the
panel and /diagnostics.
A stop request cancels the active command and leaves the arm in a known
state.
Simulation still works without an Arduino.
No node other than the selected state source publishes /joint_states.

Decisions Still Needed

Whether future feedback will be servo command echo, potentiometer/encoder
measurement, or both. The current firmware provides command status only.
Whether the external servo-power switch is the formal emergency stop.
Physical emergency-stop wiring and how its state reaches ROS.
Whether the arm is controlled by hobby servos or motor drivers with a
lower-level controller.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Co-authored-by: aj0khi <81395597+aj0khi@users.noreply.github.com>

This PR adds the first physical hardware integration for the WayBionic arm. ## What's new - **waybionic_hardware package**: ROS 2 Arduino serial bridge using the confirmed Uno R4 protocol. Accepts RUN/HOME/STOP commands, publishes estimated joint state for RViz, and reports connection/command status on /diagnostics. - **Hardware mode support**: Launch parameter hardware_mode switches between simulation (default) and arduino mode. Prevents simulated publishers from running simultaneously with the physical bridge. - **Dry-run testing**: Arduino bridge supports --dry-run for development without hardware or USB connection. - **Architecture documentation**: Complete hardware path design, protocol details, and phased implementation plan in docs/arm_hardware_motion_architecture.md. ## Commands to test ### Dry-run (no Arduino needed): ```bash source install/setup.bash ros2 launch waybionic_bringup ground_station.launch.py \ hardware_mode:=arduino \ arduino_dry_run:=true ``` ### Physical hardware (Arduino connected): ```bash source install/setup.bash ros2 launch waybionic_bringup ground_station.launch.py \ hardware_mode:=arduino \ arduino_port:=/dev/ttyACM0 ``` ### Verify motion and state: ```bash ros2 topic echo /joint_states ros2 topic echo /diagnostics ``` ## Current limitations - No physical position feedback; RViz shows estimated commanded pose. - Joint sensors (encoders/potentiometers) not yet integrated. - MotionTestPanel remains on string topic; trajectory action interface planned for phase 2. ## Build and run ```bash colcon build --symlink-install source install/setup.bash ```

coderabbitai · 2026-09-12T16:38:13Z

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Co-authored-by: aj0khi <81395597+aj0khi@users.noreply.github.com>

Copilot

🟡 Changes recommended

Unresolved hardware safety, fault-handling, motion-limit, and launch issues block approval.

Get a fresh assessment by requesting another Copilot review.

Pull request overview

Adds a four-joint arm simulation, Arduino serial bridge, RViz motion and diagnostics tooling, launch configurations, packaging, and architecture documentation.

Changes:

Adds simulation trajectories and estimated Arduino joint-state publishing.
Extends RViz panels, diagnostics CLI, tests, and configuration.
Adds URDF, bringup modes, package metadata, and hardware architecture docs.

File summaries

File	Summary
`waybionic_rviz_plugins/test/test_ros_diagnostics_source.cpp`	Adds diagnostics regression coverage.
`waybionic_rviz_plugins/src/ros_diagnostics_source.cpp`	Handles diagnostic alert messages.
`waybionic_rviz_plugins/src/motion_test_panel.cpp`	Implements motion command controls.
`waybionic_rviz_plugins/src/diagnostics_panel.cpp`	Adds movement-test UI.
`waybionic_rviz_plugins/scripts/temporary_diagnostics_publisher.py`	Publishes diagnostic messages.
`waybionic_rviz_plugins/plugin_description.xml`	Registers the motion panel.
`waybionic_rviz_plugins/package.xml`	Adds package dependencies.
`waybionic_rviz_plugins/include/waybionic_rviz_plugins/motion_test_panel.hpp`	Declares the motion panel API.
`waybionic_rviz_plugins/include/waybionic_rviz_plugins/diagnostics_panel.hpp`	Declares diagnostics UI members.
`waybionic_rviz_plugins/config/engineer_monitoring_view.rviz`	Configures the engineer monitoring view.
`waybionic_rviz_plugins/CMakeLists.txt`	Builds and exports panel sources.
`waybionic_motion_test/waybionic_motion_test/motion_test.py`	Implements simulated arm trajectories.
`waybionic_motion_test/waybionic_motion_test/__init__.py`	Defines the Python package.
`waybionic_motion_test/setup.py`	Defines motion-test installation.
`waybionic_motion_test/setup.cfg`	Configures script installation.
`waybionic_motion_test/resource/waybionic_motion_test`	Adds the ament package marker.
`waybionic_motion_test/package.xml`	Defines motion-test metadata and dependencies.
`waybionic_hardware/waybionic_hardware/arduino_bridge.py`	Implements Arduino transport and estimated state.
`waybionic_hardware/waybionic_hardware/__init__.py`	Defines the hardware package.
`waybionic_hardware/setup.py`	Defines bridge installation.
`waybionic_hardware/setup.cfg`	Configures script installation.
`waybionic_hardware/resource/waybionic_hardware`	Adds the ament package marker.
`waybionic_hardware/package.xml`	Defines hardware dependencies.
`waybionic_diagnostics/waybionic_diagnostics/cli.py`	Implements the diagnostics CLI.
`waybionic_diagnostics/waybionic_diagnostics/__init__.py`	Defines the diagnostics package.
`waybionic_diagnostics/test/test_cli.py`	Tests CLI behavior.
`waybionic_diagnostics/setup.py`	Defines CLI installation.
`waybionic_diagnostics/setup.cfg`	Configures script installation.
`waybionic_diagnostics/resource/waybionic_diagnostics`	Adds the ament package marker.
`waybionic_diagnostics/package.xml`	Defines diagnostics metadata and dependencies.
`waybionic_description/urdf/old_arm_prototype.urdf`	Adds the four-joint arm model and limits.
`waybionic_bringup/rviz/waybionic.rviz`	Updates the RViz layout.
`waybionic_bringup/rviz/waybionic_unified.rviz`	Adds the unified motion-panel layout.
`waybionic_bringup/package.xml`	Adds bringup dependencies.
`waybionic_bringup/launch/ground_station.launch.py`	Selects simulation or Arduino mode.
`waybionic_bringup/launch/display.launch.py`	Configures standalone display bringup.
`docs/arm_hardware_motion_architecture.md`	Documents the hardware architecture and safety model.
`cpsc.`	No functional content shown.

Review details

Suppressed comments (6)

waybionic_bringup/launch/ground_station.launch.py:54

This argument accepts arbitrary strings, so a typo such as hardware_mode:=arduin makes both the simulation and Arduino conditions false and silently launches without a state source. Restrict it to the two supported values so invalid modes fail at launch.

    hardware_mode_arg = DeclareLaunchArgument(
        'hardware_mode', default_value='simulation',
        description='Arm mode: simulation or arduino')

waybionic_hardware/waybionic_hardware/arduino_bridge.py:20

These calibration and trajectory constants are duplicated in waybionic_motion_test/motion_test.py and this bridge. A future change to the home offsets, directions, or sequence can make simulation and physical mode command different poses, contrary to the documented single calibration source. Move the shared calibration/sequence into one package-level configuration consumed by both nodes.

HOME_PHYSICAL_DEGREES = [33.5, 112.5, 151.5, 27.5]
SERVO_DIRECTIONS = [1.0, -1.0, 1.0, 1.0]
PHYSICAL_LIMITS = [(0.0, 270.0), (0.0, 112.5), (90.0, 270.0), (0.0, 270.0)]
SEQUENCE = [
    [60.0, 95.0, 125.0, 60.0],
    [45.0, 75.0, 200.0, 100.0],
    [15.0, 100.0, 130.0, 5.0],
    HOME_PHYSICAL_DEGREES,

waybionic_hardware/waybionic_hardware/arduino_bridge.py:20

The first physical RUN sends waypoints for all four servos simultaneously. The architecture's safety rules require a low-speed, one-joint-at-a-time commissioning test before synchronized trajectories, so this default hardware path bypasses that guard. Gate the synchronized sequence behind explicit commissioning or use a one-joint sequence first.

SEQUENCE = [
    [60.0, 95.0, 125.0, 60.0],
    [45.0, 75.0, 200.0, 100.0],
    [15.0, 100.0, 130.0, 5.0],
    HOME_PHYSICAL_DEGREES,

waybionic_hardware/waybionic_hardware/arduino_bridge.py:199

The estimator state is committed before send_line() succeeds. If a HOME/RUN command is issued while another move is active and the serial write fails, motion_active can remain true while target has been changed to a command the Arduino never received; sequence_active can likewise remain set after a failed RUN. Commit motion state only after a successful write and clear the sequence on failure.

        self.start = list(self.current)
        self.target = list(target)
        self.motion_started = time.monotonic()
        self.motion_duration = max(0.3, min(15.0, self.segment_duration))
        command = 'MOVE,' + ','.join(f'{value:.2f}' for value in target)

waybionic_motion_test/waybionic_motion_test/motion_test.py:71

When HOME interrupts an active sequence, sequence_index still points at the interrupted segment. Once the HOME segment completes, update_trajectory() sees an index below the final element and starts the remaining RUN sequence instead of stopping at HOME. Reset the sequence state when handling HOME.

        elif command == 'HOME':
            self.start_segment(self.home)

waybionic_rviz_plugins/src/motion_test_panel.cpp:120

The panel reports STOPPED immediately after publishing HOLD, without checking that a bridge received the command or that the Arduino acknowledged it. If the bridge is absent or the write fails, the physical arm may continue while the UI reports a successful stop; make stop completion/failure depend on hardware feedback.

Files reviewed: 35/41 changed files
Comments generated: 19
Review effort level: Lite

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+    def read_serial(self):
+        while not self.serial_stop.is_set() and self.serial_port is not None:
+            try:
+                line = self.serial_port.readline().decode('ascii', errors='replace').strip()
+                if line:
+                    self.process_serial_line(line)


yassinsolim · 2026-09-13T11:34:45Z

+            except Exception as error:
+                self.connected = False
+                self.last_error = str(error)
+                self.last_status = 'serial-read-failed'
+                return


Confirmed on d77c284 with a fake serial read failure. connected becomes false, but both motion flags remain true, and the next state timer advances the published pose. Please freeze the estimate and cancel the sequence when the transport fails; the current three hardware tests do not exercise this path.

+    def process_serial_line(self, line):
+        self.get_logger().debug(f'Arduino: {line}')
+        if line.startswith('READY,IK4,1'):


+        if line.startswith('ERROR,'):
+            self.motion_active = False
+            self.sequence_active = False
+            self.last_error = line[6:]
+            self.last_status = 'arduino-error'


+        status.level = DiagnosticStatus.OK if self.connected else DiagnosticStatus.ERROR
+        status.message = self.last_status


+  movement_test_button_ = new QPushButton("▶ Run Movement Test");
+  movement_test_button_->setToolTip(
+    "Run the robot through its predefined movement test sequence.");


+  test_running_ = true;
+
+  result_label_->setText("Running motion sequence...");
+  status_label_->setText("RUNNING: synchronized 4-DOF sequence");
+
+  run_button_->setEnabled(false);
+  home_button_->setEnabled(false);
+  stop_button_->setEnabled(true);
+
+  publishCommand("RUN");


Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

- Resolves colcon test failures due to missing test files - Both packages now have minimal unit tests that verify module imports - CI/CD pipeline will now pass the test phase

aj0khi · 2026-09-12T20:49:28Z

Updated todo list

Connect Arduino to WSL

In Windows PowerShell as Administrator:

usbipd list
usbipd bind --busid <BUSID>
usbipd attach --wsl --busid <BUSID>

Replace <BUSID> with the Arduino’s ID, such as 4-4.

In WSL, verify the port:

ls /dev/ttyACM* /dev/ttyUSB*

Usually it will be /dev/ttyACM0. Check permissions:

sudo usermod -aG dialout "$USER"

Restart WSL afterward if needed.

Run the arm

cd ~/waybionic_ground_station
source /opt/ros/jazzy/setup.bash
source install/setup.bash

ros2 launch waybionic_bringup ground_station.launch.py \
  hardware_mode:=arduino \
  arduino_port:=/dev/ttyACM0 \
  launch_rviz:=true

Verify the Arduino connects:

ros2 topic echo /diagnostics

Before using the real arm, test without sending commands:

ros2 launch waybionic_bringup ground_station.launch.py \
  hardware_mode:=arduino \
  arduino_dry_run:=true \
  launch_rviz:=true

To disconnect the USB device from WSL:

usbipd detach --wsl --busid <BUSID>

yassinsolim

Reviewed d77c284. The hardware and simulator packages each pass their three tests, but mocked behavior checks exposed the issues below. I also reproduced the existing disconnect finding. All checks were hardware-free; no serial device or motor was accessed. Please address these and the remaining safety threads before merge.

yassinsolim · 2026-09-13T11:34:44Z

[P1] Remove the Windows-invalid filename

This empty file has a trailing dot, which Windows cannot check out normally. On Windows, even exporting the selected packages with git archive fails with error: invalid path 'cpsc.'. Please remove the file or rename it without the trailing dot so contributors can check out this branch without weakening Git's path protections.

yassinsolim · 2026-09-13T11:34:44Z

+        self.serial_stop.set()
+        if self.serial_port is not None:
+            try:
+                self.serial_port.close()


[P1] Request a stop before closing an active bridge

I started a MOVE against a fake serial device and called destroy_node(). The port was closed with only the MOVE in the write log; no HOLD was sent. The firmware runs that trajectory independently, so closing the launch does not request a stop for the active move. Please cancel the sequence and request HOLD while the transport is still usable, serialize shutdown with the reader, and add a shutdown-during-motion regression.

yassinsolim · 2026-09-13T11:34:44Z

+
+        if progress >= 1.0:
+            self.current = list(self.target)
+            if self.sequence_index < len(self.sequence) - 1:


[P2] Keep HOME separate from sequence playback

HOME also reaches this sequence-advance branch. Starting from a fresh node, I sent HOME and advanced 151 timer ticks with the default duration: the node moved on to sequence index 1 with a non-home target, without receiving RUN. Please advance the sequence only while an explicit RUN is active. Cover HOME both before a run and while interrupting a run so it finishes at home and stays there.

yassinsolim · 2026-09-13T11:34:45Z

+            except Exception as error:
+                self.connected = False
+                self.last_error = str(error)
+                self.last_status = 'serial-read-failed'
+                return


Confirmed on d77c284 with a fake serial read failure. connected becomes false, but both motion flags remain true, and the next state timer advances the published pose. Please freeze the estimate and cancel the sequence when the transport fails; the current three hardware tests do not exercise this path.

aj0khi and others added 7 commits August 31, 2026 12:47

Improve live diagnostics messages

e559174

Add ROS 2 diagnostics CLI

d127020

Fix diagnostics CLI shutdown handling

9e6f12c

Update argument parsing for ROS initialization

c053477

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Fix diagnostics alert mapping and add regression tests

7f69e3f

Co-authored-by: aj0khi <81395597+aj0khi@users.noreply.github.com>

Fix diagnostics signal caching and sample age

7bfd6e8

Copilot AI lite review requested due to automatic review settings September 12, 2026 16:38

aj0khi requested a review from yassinsolim as a code owner September 12, 2026 16:38

Copilot started reviewing on behalf of aj0khi September 12, 2026 16:38 View session

Copilot started work on behalf of aj0khi September 12, 2026 16:40 View session

test: add smoke tests for hardware and motion packages

901a122

Co-authored-by: aj0khi <81395597+aj0khi@users.noreply.github.com>

Copilot finished work on behalf of aj0khi September 12, 2026 16:44

Copilot AI reviewed Sep 12, 2026

View reviewed changes

aj0khi and others added 5 commits September 12, 2026 10:47

Update joint limit upper value in URDF file

7f75303

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Improve HOLD command status handling

f729b04

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Validate segment_duration parameter

dcbf344

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Update diagnostics stream age print statement

e1fe482

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Add test placeholders for hardware and motion test packages

740cb04

- Resolves colcon test failures due to missing test files - Both packages now have minimal unit tests that verify module imports - CI/CD pipeline will now pass the test phase

Copilot started work on behalf of aj0khi September 12, 2026 17:35 View session

Copilot finished work on behalf of aj0khi September 12, 2026 17:37

aj0khi added 2 commits September 12, 2026 14:36

Integrate new old-arm model with motion publishers

bd328f1

new arm model in rviz

d77c284

yassinsolim requested changes Sep 13, 2026

View reviewed changes

yassinsolim mentioned this pull request Sep 13, 2026

Feature/diagnostics cli #16

Open

Copilot started work on behalf of aj0khi September 14, 2026 00:08 View session

Copilot finished work on behalf of aj0khi September 14, 2026 00:10

Copilot started work on behalf of aj0khi September 14, 2026 00:13 View session

Harden Arduino motion safety and status reporting

95c849b

Copilot finished work on behalf of aj0khi September 14, 2026 00:15

aj0khi requested a review from yassinsolim September 14, 2026 00:16

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		status.level = DiagnosticStatus.OK if self.connected else DiagnosticStatus.ERROR
		status.message = self.last_status

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aj0khi commented Sep 12, 2026

Arm Hardware and Motion Architecture

Goal

Current State

Target Runtime Architecture

Runtime Modes

Simulation

Physical Hardware

ROS Interfaces

Package Responsibilities

waybionic_description

New waybionic_hardware

waybionic_motion_test

waybionic_rviz_plugins

waybionic_bringup

Safety Rules

Incremental Implementation Plan

Current Bringup Commands

Definition of Done

Decisions Still Needed

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yassinsolim Sep 13, 2026

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4 participants

`waybionic_description`

New `waybionic_hardware`

`waybionic_motion_test`

`waybionic_rviz_plugins`

`waybionic_bringup`

coderabbitai Bot commented Sep 12, 2026 •

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