wuphilipp · AndreasJosefGassner · Apr 7, 2026 · Apr 7, 2026
diff --git a/ros2/.devcontainer/Dockerfile b/ros2/.devcontainer/Dockerfile
@@ -9,6 +9,7 @@ RUN apt-get update && apt-get install -y \
   libfmt-dev \
   libpoco-dev \
   ros-humble-pinocchio \
+  ros-humble-rmw-cyclonedds-cpp \
   # Install ros packages
   python3-colcon-common-extensions \
   python3-colcon-mixin \
@@ -66,4 +67,4 @@ mkdir -p /tmp/franka_ros2 && cd /tmp/franka_ros2 && \
   cd .. && \ 
   rm -rf /tmp/franka_ros2 && \
   echo "source /opt/ros/humble/franka/setup.bash" >> ~/.bashrc && \
-  echo "source /opt/ros/humble/franka/setup.sh" >> ~/.profile'
+  echo "source /opt/ros/humble/franka/setup.sh" >> ~/.profile'
diff --git a/ros2/.devcontainer/docker-compose.yml b/ros2/.devcontainer/docker-compose.yml
@@ -1,5 +1,5 @@
 services:
-  gello-ros2: 
+  gello-ros2:
     build: .
     privileged: true
     restart: no
@@ -15,4 +15,5 @@ services:
       DISPLAY: ${DISPLAY}
       QT_X11_NO_MITSH: "1"
       XAUTHORITY: /tmp/.docker.xauth
-
+      RMW_IMPLEMENTATION: ${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
+      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-0}
diff --git a/ros2/CHANGELOG.md b/ros2/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 > This changelog covers only the changes relevant to the ROS 2 implementation of GELLO.
 
+## `ros2-v2.1.0` - 2026-04-08
+ - Updated the Dockerfile and Docker Compose files to support Cyclone DDS as the ROS 2 RMW.
+ - **Behavioral**: Cyclone DDS is now the default RMW in the devcontainer.
+ - Added getting started guide for Franka GELLO Duo.
+
 ## `ros2-v2.0.0` - 2026-02-16
  - Published joint positions are now independent of the GELLO's joint positions on power-on.
  - Added assembly offset calculation script which differs from the one in the non-ROS part of this repository.

diff --git a/ros2/CHANGELOG.rst b/ros2/CHANGELOG.rst
diff --git a/ros2/README.md b/ros2/README.md
@@ -2,40 +2,6 @@
 
 This folder contains all required ROS 2 packages for using GELLO with a Franka FR3 robot.
 
-## Packages Overview
-
-### 1. `franka_fr3_arm_controllers`
-This package provides a Joint Impedance controller for the Franka FR3. It subscribes to the GELLO joint states and sends torque commands to the robot.
-
-#### Key Features:
-- Implements a `JointImpedanceController` for controlling the robot's torques.
-- Subscribes to `/gello/joint_states` topic for the GELLO joint states.
-
-#### Launch Files:
-- **`franka.launch.py`**: Launches the Franka robot ros interfaces.
-- **`franka_fr3_arm_controllers.launch.py`**: Launches the Joint Impedance controller.
-
-### 2. `franka_gello_state_publisher`
-This package provides a ROS 2 node that reads input from the GELLO and publishes it as `sensor_msgs/msg/JointState` messages.
-
-#### Key Features:
-- Publishes GELLO state to the `/gello/joint_states` topic.
-- Optionally sets the internal control parameters of the Dynamixel motors. This allows for [virtual springs and dampers](#virtual-springs-dampers) in the GELLO joints.
-
-#### Launch Files:
-- **`main.launch.py`**: Launches the GELLO publisher node.
-
-### 3. `franka_gripper_manager`
-This package provides a ROS 2 node for managing the gripper connected to the Franka robot. Supported grippers are either the `Franka Hand` or the `Robotiq 2F-85`. It allows sending commands to control the gripper's width and perform homing actions. 
-
-#### Key Features:
-- Subscribes to `/gripper/gripper_client/target_gripper_width_percent` for gripper width commands.
-- Supports homing and move actions for the gripper.
-
-#### Launch Files:
-- **`franka_gripper_client.launch.py`**: Launches the gripper manager node for the `Franka Hand`.
-- **`robotiq_gripper_controller_client.launch.py`**: Launches the gripper manager node for the `Robotiq 2F-85`.
-
 ## Setup Environment
 
 ### Option 1: VS-Code Dev-Container (recommended)
@@ -59,6 +25,7 @@ If you choose not to use the Dev-Container, please refer to the [Local Setup](#o
   Refer to the [Franka Robotics documentation](https://frankarobotics.github.io/docs/index.html) for installation steps and compatibility information.
 - **ros2_robotiq_gripper** (if required) must be installed.  
   See the [ros2_robotiq_gripper GitHub repository](https://github.com/PickNikRobotics/ros2_robotiq_gripper) for installation and usage instructions.
+- We recommend using Cyclone DDS as ROS 2 RMW. Refer to [the ROS 2 documentation](https://docs.ros.org/en/humble/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html) for installation instructions and detailed information.
 
 > 💡 **Hint:**  
 > You can also find example installation commands for `libfranka`, `franka_ros2`, and `ros2_robotiq_gripper` in the [Dockerfile](./.devcontainer/Dockerfile) located in the `ros2/.devcontainer` directory. These commands can be copy-pasted for your local setup.
@@ -69,28 +36,41 @@ After installing the prerequisites, you may need to install additional dependenc
 
 If you add new dependencies to your packages, remember to update the relevant `requirements.txt`, `requirements_dev.txt` or `package.xml` files and re-run the script.
 
-## Build and Test
-
-> ⚠️ **Important:**  
-> All commands for building and testing must be executed from the `ros2` directory of this repository.
-
-### Building the project
-
-To build the project, use the following `colcon` command with CMake arguments, required for clang-tidy:
+## Getting Started - Pre-assembled Franka GELLO Single with the Franka Hand
 
-```bash
-colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON
-```
+- Configure the `com_port` in `franka_gello_single.yaml` and `example_fr3_config_franka_hand.yaml`, and set the `robot_ip` in `example_fr3_config.yaml`. For a complete description, see the [Detailed Launch Routine](#detailed-launch-routine) section.
+- Run the following commands:
+    ```bash
+      # Follow the Setup Environment section. If using Option 2, substitute /workspace/ with the path to the gello_software folder
+      # Go to the ROS 2 workspace, build it, and source it
+      cd /workspace/ros2 && colcon build && source install/setup.bash
+      # Start the GELLO node
+      ros2 launch franka_gello_state_publisher main.launch.py config_file:=franka_gello_single.yaml
+      # Start the Franka Hand node
+      ros2 launch franka_gripper_manager franka_gripper_client.launch.py config_file:=example_fr3_config_franka_hand.yaml
+      # Hold the GELLO and place it in a comfortable position with some distance from the base pin
+      # Start the robot node (the robot position will sync directly to the GELLO position. Avoid moving the GELLO abruptly during synchronization)
+      ros2 launch franka_fr3_arm_controllers franka_fr3_arm_controllers.launch.py robot_config_file:=example_fr3_config.yaml
+    ```
 
-### Testing the project
+## Getting Started - Pre-assembled Franka GELLO Duo with the Franka Vision and Manipulation Kit
 
-The packages come with a set of tests, which can be executed using the following command:
-
-```bash
-colcon test 
-```
+- Configure the `com_port` in `franka_gello_duo.yaml` and `example_fr3_duo_config_robotiq.yaml`, and set the `robot_ip` in `example_fr3_duo_config.yaml`. For a complete description, see the [Detailed Launch Routine](#detailed-launch-routine) section.
+- Run the following commands:
+    ```bash
+      # Follow the Setup Environment section. If using Option 2, substitute /workspace/ with the path to the gello_software folder
+      # Go to the ROS 2 workspace, build it, and source it
+      cd /workspace/ros2 && colcon build && source install/setup.bash
+      # Start the GELLO node
+      ros2 launch franka_gello_state_publisher main.launch.py config_file:=franka_gello_duo.yaml
+      # Start the Robotiq gripper node
+      ros2 launch franka_gripper_manager robotiq_gripper_controller_client.launch.py config_file:=example_fr3_duo_config_robotiq.yaml
+      # Hold the GELLOs and place them in a comfortable position with some distance from the base pins
+      # Start the robot node (the robot position will sync directly to the GELLO position. Avoid moving the GELLOs abruptly during synchronization)
+      ros2 launch franka_fr3_arm_controllers franka_fr3_arm_controllers.launch.py robot_config_file:=example_fr3_duo_config.yaml
+    ```
 
-## Getting Started
+## Detailed Launch Routine and Configuration
 
 ### 1. **Run the GELLO Publisher**  
 #### Step 1: Determine the port IDs of your communication converters
@@ -252,6 +232,61 @@ The `config_file` argument is **optional**. If not provided, it defaults either
 - `namespace`: ROS 2 namespace (must match the robot and the Gello state publisher).
 - `com_port`: **(Robotiq only)** The `ROBOTIQ_USB_ID` can be determined by `ls /dev/serial/by-id`
 
+## Packages Overview
+
+### 1. `franka_fr3_arm_controllers`
+This package provides a Joint Impedance controller for the Franka FR3. It subscribes to the GELLO joint states and sends torque commands to the robot.
+
+#### Key Features:
+- Implements a `JointImpedanceController` for controlling the robot's torques.
+- Subscribes to `/gello/joint_states` topic for the GELLO joint states.
+
+#### Launch Files:
+- **`franka.launch.py`**: Launches the Franka robot ros interfaces.
+- **`franka_fr3_arm_controllers.launch.py`**: Launches the Joint Impedance controller.
+
+### 2. `franka_gello_state_publisher`
+This package provides a ROS 2 node that reads input from the GELLO and publishes it as `sensor_msgs/msg/JointState` messages.
+
+#### Key Features:
+- Publishes GELLO state to the `/gello/joint_states` topic.
+- Optionally sets the internal control parameters of the Dynamixel motors. This allows for [virtual springs and dampers](#virtual-springs-dampers) in the GELLO joints.
+
+#### Launch Files:
+- **`main.launch.py`**: Launches the GELLO publisher node.
+
+### 3. `franka_gripper_manager`
+This package provides a ROS 2 node for managing the gripper connected to the Franka robot. Supported grippers are either the `Franka Hand` or the `Robotiq 2F-85`. It allows sending commands to control the gripper's width and perform homing actions. 
+
+#### Key Features:
+- Subscribes to `/gripper/gripper_client/target_gripper_width_percent` for gripper width commands.
+- Supports homing and move actions for the gripper.
+
+#### Launch Files:
+- **`franka_gripper_client.launch.py`**: Launches the gripper manager node for the `Franka Hand`.
+- **`robotiq_gripper_controller_client.launch.py`**: Launches the gripper manager node for the `Robotiq 2F-85`.
+
+## Build and Test
+
+> ⚠️ **Important:**  
+> All commands for building and testing must be executed from the `ros2` directory of this repository.
+
+### Building the project
+
+To build the project, use the following `colcon` command with CMake arguments, required for clang-tidy:
+
+```bash
+colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON
+```
+
+### Testing the project
+
+The packages come with a set of tests, which can be executed using the following command:
+
+```bash
+colcon test 
+```
+
 ## Troubleshooting
 
 ### SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))