WayBionic Ground Station

ROS2 workspace for the WayBionic robotic ground station.

Currently, this repository contains the clean foundation and the SolidWorks-exported arm model for the ground station rebuild.

Packages

• waybionic_description Hardware description, URDF/Xacro files, and meshes. waybionic_arm.urdf is generated from the mechanical team's full-arm-smaller.SLDASM by the tools in scripts/cad/; regenerate it after CAD changes instead of editing it. The geometric placeholder model remains available.
• waybionic_bringup Launch files and RViz configurations to bring up the robot state and visualization.
• waybionic_teleop Xbox and PS5 DualSense controller teleoperation of the arm through placeholder MKS SERVO CAN drives, simulated until the real drives are connected.
• waybionic_rviz_plugins Engineer diagnostics panel, mock/live diagnostics sources, and a temporary diagnostics publisher.

Docker Compose Development and Tests

Docker Compose is the default development and headless build/test path. See BuildInstructions.md for first-time Windows, macOS, or Linux setup; no host ROS installation is required for this path.

From the repository root:

docker compose --progress plain build test

Start the headless demo with docker compose up --build. Stop it with Ctrl+C, then remove the container with docker compose down.

For editing, open the repository with VS Code's Dev Containers: Reopen in Container. Local development and CI use compose.yaml and the same Dockerfile, with CI jobs for x86-64 and ARM64. The default container is headless. Linux users can launch RViz with ./scripts/linux-gui.sh (see Linux GUI setup). Windows users can run the RViz demo through WSLg; native GUI options are also documented below.

macOS (Apple Silicon)

For native RViz, install Miniforge once, then clone and set up the RoboStack environment:

brew install --cask miniforge
git clone https://github.com/Waybionic/waybionic_ground_station.git && cd waybionic_ground_station && ./scripts/macos.sh setup

Launch the ground station visualization:

./scripts/macos.sh launch

Environment Setup, Build, and Launch

Use BuildInstructions.md for Docker-first setup and the separate native Ubuntu/WSL and macOS RViz instructions. Team access and contribution workflow are covered in CONTRIBUTING.md.