Arm_api2 - c++ ROS 2 wrapper for MoveIt2! included UR support

Hi everyone,

Me and my colleagues have developed arm_api2. Simple C++ wrapper for MoveIt2! and ROS 2 for using robot manipulators.
With it you can easily commadn:

  • cartesian trajectory
  • joint trajectory
  • end effector servoing

We also included support for the UR manipulators, and we tested it in simulation.
We like to hear your thoughts, opinions and features that you would find useful!

You can find repository here.

Let us know how you like it!