Arachne

Arachne is a ROS 2 Humble workspace for a Scout 2.0 mobile base, Aubo i5 arm, MS42DC gripper, Gemini335 RGB-D camera, and C16 lidar.

Build

source scripts/env/arachne_env.sh
./scripts/build/build_workspace.sh
source install/setup.bash

Build logs are written under log/build/.

Run The Full Operator

Use this as the normal entrypoint:

source scripts/env/arachne_env.sh
source install/setup.bash
ros2 launch arachne_operator teach_panel.launch.py

This starts the operator panel, RViz/model view, camera controls, task servers, and real hardware bringup. Start/stop camera, SLAM, grasp, road cleanup, gripper, base, and arm actions from the panel.

The new Step Demo button runs a simplified road-cleanup flow: observe once, stop detection, move the base forward by small steps, re-detect, then trigger one or more normal grasp attempts when the trash is close enough.

Maintenance Checks

These are for development only, not field operation:

ros2 run arachne_operator teach_panel --headless-check
ros2 run arachne_operator grasp_task_server --dry-run-check
ros2 run arachne_operator road_cleanup_task_server --dry-run-check
ros2 run arachne_operator arachne check entrypoints
ros2 run arachne_operator arachne check offline

Safety

Dry-run and headless checks never start real motion. Real motion paths must keep their existing explicit confirmation parameters and field safety checks.

Layout

Path	Purpose
src/arachne_operator	Teach panel and task servers
src/arachne_hardware	Real hardware drivers/actions
src/arachne_description	Robot model and RViz assets
src/arachne_sensors	Gemini335 camera nodes
src/arachne_nav	Navigation starter configs
scripts	Bootstrap, install, and field helper scripts only
third_party	Vendor packages required for builds
yolo_workspace	Local model weights and datasets

Deprecated

Runtime shell wrappers under scripts/ are not stable interfaces. Use ros2 launch arachne_operator teach_panel.launch.py for normal operation.