BrainCo Revo3 ROS 2

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ROS 2 packages for BrainCo Revo3 21-DoF dexterous hands. This repository contains the hardware driver, URDF/xacro description, and MIT command controller needed for Modbus-based control.

Packages

brainco_revo3_ros2/
├── revo3_driver/                 # ros2_control hardware interface and launch files
├── revo3_description/            # Revo3 URDF/xacro, meshes, and RViz config
├── revo3_mit_controller/         # MIT command controller plugin
└── revo3_mit_controller_msgs/    # MIT command message definition

Requirements

• Ubuntu 22.04
• ROS 2 Humble
• ros2_control, ros2_controllers, xacro, robot_state_publisher
• A Revo3 hand connected through Modbus serial for hardware mode

SDK

The tested BC Revo3 SDK v1.0.4 is included in revo3_driver/vendor/dist, so a fresh clone can build without downloading extra SDK files.

To refresh the SDK manually:

cd <workspace>/src/brainco_revo3_ros2/revo3_driver
bash scripts/download_sdk.sh

Build

mkdir -p ~/revo3_ws/src
cd ~/revo3_ws/src
git clone https://github.com/BrainCoTech/brainco_revo3_ros2.git

cd ~/revo3_ws
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro humble -y
colcon build --packages-up-to revo3_driver --symlink-install
source install/setup.bash

Launch

Simulation mode, no hardware required:

ros2 launch revo3_driver revo3_system.launch.py hand_side:=right if_sim:=true

Hardware mode:

ros2 launch revo3_driver revo3_system.launch.py hand_side:=right

Dual-hand mode:

ros2 launch revo3_driver dual_revo3_system.launch.py

The default protocol files use SDK auto detection. Stable serial aliases are optional and can be configured with:

cd ~/revo3_ws/src/brainco_revo3_ros2/revo3_driver/setup
bash bootstrap_revo3.sh
bash check_revo3_setup.sh

Interfaces

The hardware exposes per-joint command interfaces:

• position in rad
• velocity in rad/s
• effort as torque feedforward in mA
• kp
• kd

State interfaces:

• position in rad
• velocity in rad/s
• current in A
• motor_state as raw SDK status bitmask

See revo3_driver/README.md and revo3_driver/README_INTERFACES_CN.md for details.

License

Apache License 2.0. See LICENSE.