ViperX-300S Visual Servoing Control System

A visual servoing control system for ViperX-300S robotic arm based on ROS2 Humble, integrating VLPoint vision processing and MoveIt2 motion planning.

Quick Start

1. Build and Start Container

cd docker
./build.sh    # Build Docker image
./run.sh      # Start container

2. Enter Container (Open Multiple Terminals)

Each program requires a separate terminal window:

docker exec -it viperx300s_robot bash

3. Launch System (Run in 4 terminals sequentially)

Terminal 1 - VLPoint Controller:

ros2 launch vlpoint controller.launch.py

Terminal 2 - VLPoint Worker:

ros2 launch vlpoint worker.launch.py

Terminal 3 - Visual Servoing:

ros2 launch vlservo vlservoing.launch.py

Terminal 4 - MoveIt2:

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=actual

4. Stop Container

cd docker
./stop.sh

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Testing and Verification

Check Arm Connection

ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=vx300s

View Topics

ros2 topic list
ros2 topic echo /joint_states

Development and Building

Rebuild packages inside the container:

cd /workspace/ros2_ws
colcon build --symlink-install
source install/setup.bash

Troubleshooting

Cannot Access USB Devices

# Add user to dialout group on host
sudo usermod -aG dialout $USER
# Check devices
ls -l /dev/ttyUSB*

RViz2 Not Displaying

# Allow X11 on host
xhost +local:docker

Arm Not Responding

Check if joint states are being published:

ros2 topic echo /joint_states

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System Architecture

• OS: Ubuntu 22.04 + ROS2 Humble
• Motion Planning: MoveIt2
• Vision Processing: VLPoint + Visual Servoing
• Hardware: ViperX-300S + RealSense Camera