PAROL6 ROS 2 / MoveIt 2 Support Workspace

Public support repository for PAROL6 ROS 2 and MoveIt 2 simulation/planning work.

This repository is a public evidence entry for the P02 PAROL6 / ROS2 / MoveIt2 interview project line. It contains a ROS 2 workspace snapshot, MoveIt 2 configuration, URDF/Xacro files, launch files, and a short demo media asset for planning tests.

Portfolio / Interview Context

• Portfolio overview: https://notion.l2k.tech:28443/article/interview-portfolio
• P02 project page: https://notion.l2k.tech:28443/api/report-media/server-upload/notionnext-videos/interview-portfolio/20260708/project-homepages/p02-parol6/index.html

This repository is one public support entry for the P02 PAROL6 control-stack project. It shows the ROS 2 / MoveIt 2 planning layer; real hardware connection details, private calibration logs, safety-gate settings, device identifiers, and operator logs remain outside this public repository.

Current Status

This repository is useful for explaining and reproducing the ROS 2 / MoveIt 2 planning layer around PAROL6:

• ROS 2 Humble workspace structure.
• parol6 robot description package.
• parol6_moveit MoveIt configuration package.
• Fake-system MoveIt demo launch.
• RViz / MoveIt planning configuration.
• Joint limit and KDL kinematics configuration.

It is not a complete real-robot control stack. Real hardware connection, CAN/serial control, safety gates, hand-eye calibration, and private test logs belong to the private project repositories.

Repository Map

Path	Purpose
ros_parol/src/parol6/	PAROL6 robot description, URDF, meshes, and bringup files
ros_parol/src/parol6_moveit/	MoveIt 2 configuration generated for PAROL6
ros_parol/src/parol6_control/	ROS 2 control configuration and launch material
MEDIA/PAROL6_moveit_gif.gif	Public demo media for the MoveIt planning scene
build/, install/, log/	Captured local build/install artifacts; useful as evidence, but not the clean source entry point

For reading or rebuilding, start from ros_parol/src/ rather than from the generated build/install directories.

Key MoveIt Files

File	Role
ros_parol/src/parol6_moveit/config/parol6.urdf.xacro	Includes the PAROL6 URDF and ros2_control xacro
ros_parol/src/parol6_moveit/config/parol6.ros2_control.xacro	Fake-system ros2_control definition for planning/demo use
ros_parol/src/parol6_moveit/config/parol6.srdf	MoveIt semantic robot description
ros_parol/src/parol6_moveit/config/joint_limits.yaml	Conservative velocity/acceleration scaling for planning
ros_parol/src/parol6_moveit/config/kinematics.yaml	KDL kinematics plugin configuration
ros_parol/src/parol6_moveit/launch/demo.launch.py	MoveIt demo launch entry
ros_parol/src/parol6_moveit/launch/move_group.launch.py	Move group launch entry
ros_parol/src/parol6_moveit/launch/moveit_rviz.launch.py	RViz integration launch entry

Quick Start

Tested baseline:

• Ubuntu 22.04
• ROS 2 Humble
• MoveIt 2 for Humble

Install ROS 2 and MoveIt 2:

sudo apt update
sudo apt install ros-humble-desktop ros-humble-moveit

Create a workspace and build:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/l2ktech/PAROL6-ROS2-MOVEIT.git
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

Run the MoveIt demo:

LC_NUMERIC=en_US.UTF-8 ros2 launch parol6_moveit demo.launch.py

If your shell cannot find parol6_moveit, use the source workspace path:

cd ~/ros2_ws/src/PAROL6-ROS2-MOVEIT/ros_parol
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch parol6_moveit demo.launch.py

Troubleshooting Notes

Common setup issues:

• Make sure ROS 2 Humble and MoveIt 2 are sourced before building.
• Keep LC_NUMERIC=en_US.UTF-8 for the demo launch if locale parsing affects URDF or numeric values.
• If MoveIt shape dependencies fail, reinstall ros-humble-geometric-shapes.
• URDF/Xacro package and file names should remain lowercase where ROS tooling expects lowercase package names.

Useful command:

sudo apt install --reinstall ros-humble-geometric-shapes

Relationship To The Portfolio Project

This repo supports the P02 line:

PAROL6 / ROS2 / MoveIt2 intelligent manipulation.

Use this public repository to explain:

• how the PAROL6 model is represented in ROS 2,
• how MoveIt 2 planning configuration is structured,
• how RViz simulation/planning is launched,
• how fake-system planning differs from real hardware control,
• which parts are safe to show publicly and which parts remain private.

Private repositories contain the broader integration story: hardware bringup, controller work, Jetson/CAN integration, vision/grasping experiments, and real robot safety gates.

Source / Originality Boundary

PAROL6 is an open-source robotic arm project by Source Robotics / Petar Crnjak. This repository should be treated as a support workspace and adaptation record around that ecosystem, not as a claim of inventing the PAROL6 arm or the upstream MoveIt tooling.

The public value here is the integration evidence: workspace layout, generated MoveIt configuration, launch flow, and troubleshooting notes used during the larger PAROL6 project.

Public Boundary

This public repository intentionally excludes:

• real robot credentials, serial/CAN device IDs, or network addresses,
• private calibration logs,
• camera/grasping data that identifies local devices or operators,
• unreleased hardware safety procedures,
• private project planning notes.

Before connecting any real robot, add hardware E-stop checks, workspace limits, controller validation, joint limit verification, and supervised dry runs.