Learn how to integrate OpenClaw with ROS 2 (Humble and Iron) in this complete tutorial. Covers workspace setup, the openclaw_ros2 bridge package, topic publishing, MoveIt 2 compatibility, and debugging tips.
First ensure ROS 2 Humble or Iron is installed. Then run: sudo apt install ros-humble-openclaw-ros2 (replace humble with iron for Iron). Source your workspace: source /opt/ros/humble/setup.bash. Verify with: ros2 pkg list | grep openclaw.
Use the provided launch file: ros2 launch openclaw_ros2 openclaw_bringup.launch.py robot_model:=ur5e sim:=true. Set sim:=false and provide the robot_ip argument when connecting to physical hardware.
Yes. Install the openclaw_moveit_config package (sudo apt install ros-humble-openclaw-moveit-config) and launch it with: ros2 launch openclaw_moveit_config moveit_rviz.launch.py robot_model:=ur5e. This loads the full MoveIt 2 pipeline including OMPL path planning and collision checking.
OpenClaw publishes /openclaw/joint_states (sensor_msgs/JointState) and /openclaw/robot_status (openclaw_msgs/RobotStatus). It subscribes to /openclaw/joint_trajectory_controller/follow_joint_trajectory (control_msgs/FollowJointTrajectory action) and /openclaw/cartesian_target (geometry_msgs/PoseStamped).
Run ros2 run openclaw_ros2 openclaw_diagnostics to check bridge connectivity. Common issues include mismatched ROS_DOMAIN_ID values between nodes, firewall rules blocking UDP multicast on port 7400, and robot IP being unreachable. Use openclaw doctor --ros2 for automated diagnosis.
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