Dyros Robot Controller

Dyros Robot Controller is a versatile ROS2-based control package that implements control algorithms for various types of robots, including mobile robots, manipulators, and mobile manipulators.
It is designed to work seamlessly in both simulation and real-robot environments, enabling rapid development and testing of advanced control strategies. Documentation of the Dyros Robot Controller is available here.

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Key Features

ClearPath Husky	Summit XLS	DYROS PCV

Franka FR3	Universal Robots 5e

Husky FR3	XLS FR3	XLS FR3

Dual FR3	Husky Dual FR3

• Mobile Robots

  • Supports differential drive, mecanum, and caster wheel configurations
  • Provides kinematics-based Forward/Inverse Kinematics

• Manipulators

  • Joint-space position, velocity, and torque control
  • Task-space control using Jacobian-based CLIK (Closed-loop Inverse Kinematics)
  • Dynamic control using OSF (Operational Space Formulation)
  • QP-based controllers that handle constraints (joint limits, velocity, collision avoidance, etc.)

• Mobile Manipulators

  • Whole-body torque-based controller

• Simulation and Real-World Integration

  • Validated in simulation with:
    • Mobile robots: ClearPath Husky, Summit XL, 4-wheel powered caster vehicle
    • Manipulators: Franka FR3, UR5
    • Mobile manipulators: Husky-FR3, XLS-FR3
  • Real robot integration in progress

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Dependencies

• ROS2 Humble
• Pinocchio – for kinematics and dynamics computation
• OSQP and OSQP-Eigen – for fast Quadratic Programming solvers

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Installation

sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
cd ros2_ws
git clone https://github.com/JunHeonYoon/dyros_robot_controller.git src
colcon build --symlink-install
source install/setup.bash

Applications

dyros_robot_controller serves as a foundation for research and development in robot control, supporting:

• Mobile robot kinematic control

• Advanced manipulator control strategies

• Whole-body control for mobile manipulators

• Examples

In the examples directory, we provide some basic examples of using dyros robot controller in Python and C++. It enables fast prototyping of novel controllers and facilitates seamless integration between simulation and real-world robotics platforms.

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