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Madara 6DoF Arm

Status: 🚧 In Progress

A 6-DOF robotic arm ROS 2 Humble · MoveIt2 · Ignition Gazebo Fortress · Raspberry Pi 5 · Docker.

Hardware

Component Part
SBC Raspberry Pi 5
Microcontroller Arduino Uno
DC Motor (base) JGA25-371 12V 18RPM + quadrature encoder
Servos (×5) MG996R
Motor driver L298N H-Bridge
Camera Raspberry Pi Camera Module v2 (IMX219)

Photos

Physical build

Physical build

Hardware Setup

Hardware Setup

System Overview

System Overview

Quick Start

# 1 Prerequisites
curl -fsSL https://get.docker.com | sh && sudo usermod -aG docker $USER
sudo apt install -y x11-xserver-utils

# 2 Clone
git clone https://github.com/yassine-cherni/madara_6DoF_arm.git
cd madara_6DoF_arm

# 3 Build & start
xhost +local:docker
docker compose build
docker compose up -d madara
docker exec -it madara bash

# 4 First time only (inside container)
cd /madara_ws
apt-get update && rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install && source install/setup.bash

Build time: ~15–25 min first run on Pi 5. Layer cache used on subsequent builds. Base image ros:humble-ros-base-jammy ships proper linux/amd64 + linux/arm64 manifests no --platform flags needed.

Usage

Mode Command
Mock demo (no HW, no Gazebo) ros2 launch madara_moveit_config demo.launch.py
Gazebo simulation ros2 launch madara_bringup gz_launch.py
Gazebo via Compose docker compose --profile sim up madara-sim
Real hardware (arm + camera) ros2 launch madara_bringup bringup_launch.py serial_port:=/dev/ttyACM0
Real hardware (arm only) ros2 launch madara_bringup bringup_launch.py start_camera:=false
MoveIt2 + RViz (after bringup) ros2 launch madara_moveit_config moveit_rviz.launch.py

Package Overview

Package Role
madara_description URDF/xacro model, meshes
madara_moveit_config MoveIt2 config, SRDF, kinematics
madara_bringup Top-level launch files
madara_hardware_interface ros2_control SystemInterface for Arduino/servos
madara_controllers Controller YAML config
madara_gazebo World, plugins, ROS↔Gazebo bridge
camera_ros RPi Camera v2 node (libcamera)

Docker Notes

Detail
Base image ros:humble-ros-base-jammy multi-arch, installs MoveIt2, ros2_control, RViz2, Gazebo Fortress, libcamera
Services madara (dev / real HW) · madara-sim (sim profile, auto-launches gz_launch.py)
Device access privileged: true + /dev volume required for /dev/dma_heap/ (libcamera DMA on RPi 5)
Build persistence madara_ws_build named volume preserves colcon build across container restarts
Groups Container root added to dialout (UART), video + render (camera DMA)

privileged note: needed for libcamera DMA heap on RPi 5. For production, replace with fine-grained devices: entries once /dev/dma_heap/ paths are confirmed.

Troubleshooting

Symptom Fix
exec format error Wrong arch cached docker system prune -af --volumes then rebuild
No cameras in container Check host: rpicam-hello --list-cameras; verify ls /dev/dma_heap/ inside container
failed to allocate buffers Add dtoverlay=vc4-kms-v3d,cma-512 to /boot/firmware/config.txt
Segfault on Ctrl-C Known Humble MoveIt2 shutdown bug harmless
Camera Feed: No data Expected in demo.launch.py (mock mode)

TODO

Each item is a separate planned extension independent branch or sub-package when implemented.

🔲 RTEMS Support

Real-time joint control on an RTEMS target (RP2350 / Hazard3 RISC-V core).

  • Minimal madara_rtems_controller task: PWM output + quadrature decoding
  • Serial/SPI bridge to the ROS 2 hardware interface on Pi 5
  • CI: RTEMS RSB cross-compiler (rtems-riscv) + OpenOCD flash/debug

🔲 Pixi ROS 2 Jazzy & Kilted

Native host install via Pixi alongside Docker.

  • pixi.toml with [feature.jazzy] + [feature.kilted] environments (robostack channels)
  • MoveIt2 Jazzy API migration
  • CI matrix: humble (Docker) | jazzy (Pixi) | kilted (Pixi nightly)

🔲 Zenoh-pico + Zephyr

DDS-native comms on the microcontroller via zenoh-pico on Zephyr RTOS replaces serial bridge.

  • Zephyr workspace (west) for RP2040/RP2350 with zenoh-pico module
  • Publish /joint_states, subscribe /joint_commands over Zenoh (UART or UDP)
  • Bridge to ROS 2 graph via zenoh-bridge-ros2dds on Pi 5

🔲 ros2_control Hardware Interface Refactor

Harden the hardware interface and close the control loop.

  • Lifecycle-managed SystemInterface with HW_IF_POSITION + HW_IF_VELOCITY for all 6 DOF
  • HandSystemInterface for the gripper (1 DOF)
  • Encoder ticks as StateInterface → closed-loop PID via pid_controller
  • controller_manager mock hardware tests in CI

🔲 Policy Training

Learn a manipulation policy on top of the MoveIt2 stack.

  • Record demonstrations via RViz2 (rosbag2): joint_states + camera/image_raw
  • Train a behaviour-cloning baseline (PyTorch)
  • Inference node publishing to madara_arm_controller trajectory topic
  • RL fine-tuning (sim-to-real) using Gazebo as training environment
  • Evaluate with pick-and-place benchmark (ArUco marker target)

🔲 Custom Linux Distribution (MadaraOS)

Minimal Yocto-based Linux image purpose-built for the Madara arm stack on Raspberry Pi 5.

  • Yocto meta-madara layer: machine config for raspberrypi5, kernel 6.6 LTS + PREEMPT_RT patch
  • Minimal image recipe: madara-image-minimal systemd, Docker Engine, no desktop
  • ROS 2 Humble baked in via meta-ros (robostack Yocto layer), colcon workspace pre-built
  • libcamera + V4L2 drivers included; DMA heap /dev/dma_heap/ available at boot
  • zenoh-pico native recipe (zenoh-pico_%.bb) cross-compiled for aarch64
  • Systemd service units: madara-bringup.service auto-starts hardware interface on boot
  • CI: kas build matrix targeting raspberrypi5 → produces flashable .wic.bz2 image
  • OTA update support via RAUC with A/B partition scheme

License

MIT see LICENSE.