FR3 Lab Stack

ROS 2 bringup, validation, and robot-side execution utilities for the HVL FR3 lab setup. The package provides reproducible dual-RealSense RGB bringup and RViz integration, together with validated FR3 joint-target execution paths used during learned-policy deployment.

Tested environment

• Ubuntu 24.04
• ROS 2 Jazzy
• realsense2_camera 4.57.7
• librealsense 2.57.7
• Franka FR3 with gripper
• MoveIt Servo + SpaceMouse teleoperation

Build

cd ~/franka_ros2_ws
source /opt/ros/jazzy/setup.bash

PYTHONNOUSERSITE=1 colcon build --packages-select fr3_lab_stack
source install/setup.bash

If CMake selects the Miniconda interpreter and reports missing ROS Python packages, rebuild once with:

PYTHONNOUSERSITE=1 colcon build --packages-select fr3_lab_stack \
  --cmake-args -DPython3_EXECUTABLE=/usr/bin/python3

Dual RealSense cameras

Start both cameras:

ros2 launch fr3_lab_stack dual_realsense.launch.py

Default configuration:

Role	Serial	RGB topic
Wrist	342222073510	/camera/wrist_camera/color/image_raw
External	244222076317	/camera/external_camera/color/image_raw

Both cameras use RGB8 at 1280x720x30. Depth, gyro, and accelerometer are disabled by default.

Enable depth when needed:

ros2 launch fr3_lab_stack dual_realsense.launch.py enable_depth:=true

The cameras are not hardware synchronized. The launch keeps fixed serial-to-role binding but does not implement calibration, pairing, preprocessing, or policy inference.

FR3 + MoveIt + RViz

Start the existing FR3 MoveIt stack:

ros2 launch franka_fr3_moveit_config moveit.launch.py \
  robot_ip:=192.170.10.101 \
  robot_type:=fr3 \
  use_fake_hardware:=false \
  load_gripper:=true

In the running RViz session, use File → Open Config and load:

~/franka_ros2_ws/src/fr3_lab_stack/rviz/fr3_lab_stack.rviz

The project RViz configuration preserves the normal MoveIt visualization and adds:

• Wrist RGB
• External RGB

Servo + SpaceMouse

Start Servo:

ros2 launch igd_fr3_control fr3_spacemouse_servocontrol.launch.py

Start the SpaceMouse publisher:

ros2 run igd_fr3_control spacemouse_twiststamped_publisher \
  --ros-args \
  -p topic:=/servo_node/delta_twist_cmds

See docs/commissioning.md for the integrated acceptance procedure.

Learned-policy joint-target execution

Two robot-side target realizations are retained:

• MoveIt + fr3_arm_controller remains the conservative commissioning, reset, and single-target baseline. It executes targets reliably but is too slow for the DROID/π0.5 15 Hz control period: a real π0.5-derived action produced a 1.105 s planned trajectory and 1.603 s request-to-result time, compared with 66.7 ms per DROID action.
• Streaming hybrid impedance control is the 15 Hz candidate. A persistent 1 kHz effort controller accepts absolute seven-joint equilibrium targets and allows the policy layer to replace them from fresh measured state without trajectory generation or stop-to-stop execution.

Commissioning tests accepted two fresh-state-anchored targets 66.807 ms apart (0.141 ms later than the nominal 15 Hz period), with exact desired-target replacement. At one controlled J1 configuration, +5 mrad and +30 mrad static tests left approximately 2.1 mrad steady equilibrium error. The state telemetry is currently 100 Hz; observed target ages of roughly 7--11 ms therefore do not constitute a precise callback-to-control-loop latency measurement. C1-A2 passed: measured-q timing characterization. The nominal 10 Hz run applied 20/20 targets with exact matching and no observed evidence loss; 6000 controller periods had no values above 1.5 ms. C1-B is next; moving 15 Hz execution and policy inference remain unvalidated. See docs/streaming_target_timing.md for the schema, collector, and commands.

See docs/joint_target_execution.md for the execution architecture and validation record.

C1-A1 adds a persistent, validated streaming target forwarder with expiring active-controller evidence and per-target timing/counters. See docs/streaming_joint_target_forwarder.md for startup, parameters, and telemetry semantics.

Validation status

Software build, launch, camera identity, optional depth, and RViz image-display checks have passed.

In the latest integrated observation on 2026-09-08, both RGB camera streams remained stable for 525.137 s at approximately 29.98 Hz, with no camera restart, disconnect, or new USB/xHCI error. The run was interrupted by a MoveIt Servo singularity safeguard before the required uninterrupted 15-minute acceptance period was completed.

After the monitored interval, the operator used MoveIt planning to move the arm to a nonsingular configuration and SpaceMouse teleoperation resumed. This supports interpretation of the event as expected singularity protection rather than a persistent Servo, controller, or communication failure.

The final uninterrupted 15-minute physical acceptance run remains pending.

See docs/validation.md for the current validation record and evidence references.