feat(les4): Add basic rviz robot arm

.fish/README.md

@@ -0,0 +1,71 @@
+# Exported Fish Environment: ros2-lectures
+
+This directory contains a self-contained Fish shell environment that can be used
+without requiring the original Fish configuration.
+
+## Files Structure
+```
+.fish/
+├── activate.fish    # Main environment configuration
+└── README.md        # This file
+```
+
+## Usage
+
+### Automatic Activation (Recommended)
+The environment will automatically activate when you `cd` into this directory
+if your Fish shell is configured with the auto-activation feature that checks
+for `.fish/activate.fish`.
+
+### Manual Activation
+To manually activate the environment, run from the project root:
+```bash
+source ./.fish/activate.fish
+```
+
+### Deactivation
+To deactivate the environment, run:
+```bash
+env deactivate
+```
+
+Or simply `cd` to a different directory if using auto-activation.
+
+## What This Environment Provides
+
+- Custom prompt showing the environment name
+- Environment-specific aliases and functions
+- Custom environment variables
+- Automatic cleanup when deactivated
+
+## Requirements
+
+- Fish shell
+- If this is a ROS2 environment: `bass` plugin (`fisher install edc/bass`)
+
+## Sharing
+
+This environment is completely self-contained. You can:
+1. Copy this directory to another machine
+2. Share it with other Fish shell users
+3. Version control it with your project (add .fish/ to your repo)
+
+The environment will work on any system with Fish shell, regardless of whether
+they have the original environment management system installed.
+
+## Auto-activation Setup
+
+To enable auto-activation for .fish/activate.fish, add this to your Fish config.fish:
+```fish
+function check_and_source_activate
+  if test -f (pwd)/.fish/activate.fish
+    source (pwd)/.fish/activate.fish
+  elif test -f (pwd)/activate.fish
+    source (pwd)/activate.fish
+  end
+end
+
+function cd
+  builtin cd $argv && check_and_source_activate
+end
+```

.fish/activate.fish

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+# Self-contained environment: ros2-lectures
+# Exported on: Thu Sep 25 10:57:14 AM CEST 2025
+# Original environment from: /home/wessel/.config/fish/environments/configs/ros2-lectures
+
+# ROS2 development environment (requires distrobox)
+# Environment: ros2-lectures
+
+# First check if running inside distrobox
+if not test -f /run/.containerenv; and test -z "$CONTAINER_ID"
+    echo (set_color red)"This ROS2 environment should only be run inside a distrobox container"(set_color normal)
+    return 1
+end
+
+# Check if a previous initialization has occurred
+if test -n "$__ENV_INITIALIZED"
+    echo (set_color yellow)"Environment already initialized"(set_color normal)
+    return 0
+end
+
+# Mark as initialized (only after distrobox check passes)
+set -gx __ENV_INITIALIZED "1"
+set -gx CURRENT_ENV "ros2-lectures"
+# Source ROS2 setup files using bass
+if type -q bass
+    bass source /opt/ros/jazzy/setup.bash
+    if test -f ./install/setup.bash
+        bass source ./install/setup.bash
+    end
+else
+    echo (set_color red)"Error: bass is required for ROS2 environment. Install with: fisher install edc/bass"(set_color normal)
+    return 1
+end
+
+# Set environment variable for the prompt prefix
+set -gx ROS2_ACTIVE 1
+
+# Save the original prompt function if it exists
+# Only save if we don't already have a backup or if current prompt is not from an environment
+if not functions -q __env_orig_prompt
+    if functions -q fish_prompt
+        functions -c fish_prompt __env_orig_prompt
+    else
+        function __env_orig_prompt
+            echo -n (whoami)'@'(prompt_hostname)' '(set_color $fish_color_cwd)(prompt_pwd)(set_color normal)'> '
+        end
+    end
+else
+    # If we already have a backup, we're switching environments
+    # No need to create a new backup
+end
+
+# Define new prompt with ROS2 prefix
+function fish_prompt
+    echo -n (set_color magenta)'(ros2-lectures)'(set_color normal)' '
+    __env_orig_prompt
+end
+
+# ROS2 aliases and functions
+alias cb="colcon build"
+alias cbs="colcon build --symlink-install"
+alias cbt="colcon build --packages-select"
+alias ct="colcon test"
+alias ctr="colcon test-result"
+
+echo (set_color green)"Activated ROS2 environment: ros2-lectures"(set_color normal)
+
+# Custom deactivation function
+function __env_custom_deactivate
+    # Remove ROS2-specific variables and aliases
+    set -e ROS2_ACTIVE
+    functions -e cb cbs cbt ct ctr 2>/dev/null
+
+    echo (set_color blue)"ROS2 environment cleanup completed"(set_color normal)
+end

activate.fish

@@ -1,36 +0,0 @@
-export env_name="ros2-lectures"
-
-# Check if a previous initialization has occurred
-if test -n "$__ACTIVATE_INITIALIZED"
-    exit 1
-end
-
-export __ACTIVATE_INITIALIZED="1"
-
-# Check if running inside distrobox
-if test -f /run/.containerenv; or test -n "$CONTAINER_ID"
-    bass source /opt/ros/jazzy/setup.bash
-    bass source ./install/setup.bash
-    # Set environment variable for the prompt prefix
-    set -gx ROS2_LECTURES_ACTIVE 1
-
-    # Save the original prompt function if it exists
-    if not functions -q __ros2_lectures_orig_prompt
-        if functions -q fish_prompt
-            functions -c fish_prompt __ros2_lectures_orig_prompt
-        else
-            function __ros2_lectures_orig_prompt
-                echo -n (whoami)'@'(prompt_hostname)' '(set_color $fish_color_cwd)(prompt_pwd)(set_color normal)'> '
-            end
-        end
-    end
-
-    # Define new prompt with ros2-lectures prefix
-    function fish_prompt
-        echo -n (set_color green)'('$env_name')'(set_color normal)
-        __ros2_lectures_orig_prompt
-    end
-else
-    echo "This script should only be run inside a distrobox container"
-    exit 1
-end

slides/Lesson_1/readme.md

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+Presentation lesson 1 25-09-2025

src/les_pkg/src/les3/action_client.cpp

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+/* action_client.cpp
+ * Action client node template for ROS2
+ *
+ * Node description:
+ * Action client that sends goals to action server and handles responses,
+ * feedback, and results. Demonstrates async goal sending and cancellation.
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [18-09-2025] Wessel T: Implement action client template
+ */
+
+// General includes
+#include <cstdlib>
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+// Custom includes
+#include "les_interface/action/template_a.hpp"
+
+// Using declarations
+using TemplateA = les_interface::action::TemplateA;
+using TemplateAGoalHandle = rclcpp_action::ClientGoalHandle<TemplateA>;
+using namespace std::placeholders;
+
+namespace lessons::three::actions {
+
+class NodeActionClient : public rclcpp::Node {
+public:
+    // Constructor:
+    NodeActionClient() : Node("node_les3_action_client")
+    {
+        // Communication and timer objects:
+        template_actionclient_ = rclcpp_action::create_client<TemplateA>(this, "template_actionserver");
+
+        RCLCPP_INFO(this->get_logger(), "Action client has been started.");
+    }
+
+    // Communication and timer functions
+    void sendGoal(std::string gname)
+    {
+        template_actionclient_->wait_for_action_server();
+        auto goal = TemplateA::Goal();
+
+        goal.gname = gname;
+
+        auto options = rclcpp_action::Client<TemplateA>::SendGoalOptions();
+        options.goal_response_callback = std::bind(&NodeActionClient::goalResponseCallback, this, _1);
+        options.result_callback = std::bind(&NodeActionClient::goalResultCallback, this, _1);
+        options.feedback_callback = std::bind(&NodeActionClient::goalFeedbackCallback, this, _1, _2);
+
+        template_actionclient_->async_send_goal(goal, options);
+        RCLCPP_INFO(this->get_logger(), "Sent request");
+    }
+
+    // Method to send a cancel request
+    void cancelGoal()
+    {
+        RCLCPP_INFO(this->get_logger(), "Sent a cancel goal request");
+        template_actionclient_->async_cancel_all_goals();
+    }
+
+private:
+    // Communication and timer functions
+    void goalResponseCallback(const TemplateAGoalHandle::SharedPtr &goal_handle)
+    {
+        if (!goal_handle) {
+            RCLCPP_INFO(this->get_logger(), "Goal got rejected");
+        }
+        else {
+            RCLCPP_INFO(this->get_logger(), "Goal got accepted");
+        }
+    }
+
+    void goalResultCallback(const TemplateAGoalHandle::WrappedResult &result)
+    {
+        auto status = result.code;
+        if (status == rclcpp_action::ResultCode::SUCCEEDED) {
+            RCLCPP_INFO(this->get_logger(), "Succeeded");
+        }
+        else if (status == rclcpp_action::ResultCode::ABORTED) {
+            RCLCPP_ERROR(this->get_logger(), "Aborted");
+        }
+        else if (status == rclcpp_action::ResultCode::CANCELED) {
+            RCLCPP_WARN(this->get_logger(), "Canceled");
+        }
+        int number = result.result->rnumber;
+        RCLCPP_INFO(this->get_logger(), "Result: %d", number);
+    }
+
+    void goalFeedbackCallback(const TemplateAGoalHandle::SharedPtr &goal_handle,
+        const std::shared_ptr<const TemplateA::Feedback> feedback)
+    {
+        (void)goal_handle;
+        int number = feedback->fnumber;
+        RCLCPP_INFO(this->get_logger(), "Got feedback: %d", number);
+
+        // Now here the option to cancel request if
+        // feedback has certain value
+
+        // if (number >= 2) {
+        //     cancelGoal();
+        // }
+    }
+
+    // Custom functions:
+    // ...
+
+    // ROS2 variables:
+    rclcpp_action::Client<TemplateA>::SharedPtr template_actionclient_;
+};
+
+} // namespace lessons::three::actions
+
+int main(int argc, char *argv[]) {
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<lessons::three::actions::NodeActionClient>();
+
+    std::string name = "jan";
+    node->sendGoal(name);
+
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

src/robot_description/.vscode/c_cpp_properties.json

@@ -0,0 +1,22 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/wessel/Documents/ros2-lectures/install/les_interface/include/**",
+        "/opt/ros/jazzy/include/**",
+        "/home/wessel/Documents/ros2-lectures/src/les_pkg/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

src/robot_description/.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/wessel/Documents/ros2-lectures/install/les_interface/lib/python3.12/site-packages",
+        "/opt/ros/jazzy/lib/python3.12/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/wessel/Documents/ros2-lectures/install/les_interface/lib/python3.12/site-packages",
+        "/opt/ros/jazzy/lib/python3.12/site-packages"
+    ]
+}

src/robot_description/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install directories
+install(
+    DIRECTORY launch meshes urdf rviz
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/robot_description/launch/display.launch.xml

@@ -0,0 +1,26 @@
+<launch>
+    <let name="urdf_path"
+        value="$(find-pkg-share robot_description)/urdf/skyentific_robot.urdf.xacro"
+    />
+
+    <let name="rviz_config_path"
+        value="$(find-pkg-share robot_description)/rviz/urdf_config.rviz"
+    />
+
+    <node pkg="robot_state_publisher"
+        exec="robot_state_publisher"
+    >
+        <param name="robot_description"
+        value="$(command 'xacro $(var urdf_path)')"/>
+    </node>
+
+    <node pkg="joint_state_publisher_gui"
+        exec="joint_state_publisher_gui"
+    />
+
+    <node pkg="rviz2"
+        exec="rviz2"
+        output="screen"
+        args="-d $(var rviz_config_path)"
+    />
+</launch>

src/robot_description/meshes/readme.md

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+meshes to be used with lesson 1

src/robot_description/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robot_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="wessel@go2it.eu">wessel</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/robot_description/rviz/display.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 85
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 517
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        elbow_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hand_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wrist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        arm_link:
+          Value: true
+        base_link:
+          Value: true
+        elbow_link:
+          Value: true
+        forearm_link:
+          Value: true
+        hand_link:
+          Value: true
+        shoulder_link:
+          Value: true
+        tool_link:
+          Value: true
+        wrist_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_link:
+          shoulder_link:
+            arm_link:
+              elbow_link:
+                forearm_link:
+                  wrist_link:
+                    hand_link:
+                      tool_link:
+                        {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.4432098865509033
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.299166202545166
+        Y: -0.3069069981575012
+        Z: 0.8311280012130737
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3503985106945038
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5403982400894165
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 854
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000160000002a3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000002a3000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000048000002a3000000c500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bd00000042fc0100000002fb0000000800540069006d00650100000000000004bd000002dc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000356000002a300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1213
+  X: 400
+  Y: 84

src/robot_description/rviz/readme.md

@@ -0,0 +1 @@
+rviz2 config file

src/robot_description/urdf/skyentific_robot.urdf.xacro

@@ -0,0 +1,263 @@
+<?xml version="1.0"?>
+<robot
+    name="skyentific_robot"
+    xmlns:xacro="http://www.ros.org/wiki/xacro"
+>
+    <!-- Include ros2_control Plugins -->
+    <xacro:include
+        filename="$(find robot_description)/urdf/skyentific_robot_ros2_control.xacro"
+    />
+    <!-- Useful XACRO Variables (Properties) -->
+    <xacro:property name="PI" value="3.14159265359" />
+    <material name="grey">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+    </material>
+    <material name="red">
+        <color rgba="0.5 0.0 0.0 1.0"/>
+    </material>
+
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/base_z_ob.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision> <!-- cyclinder equivalent -->
+            <origin xyz="0 0 0.075" rpy="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.1" length="0.15"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="link_1">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/link_1.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.150" rpy="1.57 0 0"/>
+            <geometry>
+                <cylinder radius="0.095" length="0.1"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_1" type="revolute">
+        <parent link="base_link"/>
+        <child link="link_1"/>
+        <origin xyz="0 0 0.0965" rpy="0 0 0"/>
+        <axis xyz="0 0 1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-3.14"
+            upper="3.14"
+        />
+    </joint>
+
+    <link name="link_2">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/link_2.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey"/>
+        </visual>
+        <collision>
+            <origin xyz="0.225 0 0" rpy="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.07" length="0.1"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_2" type="revolute">
+        <parent link="link_1"/>
+        <child link="link_2"/>
+        <origin xyz="0 0 0.150" rpy="0 -1.57 1.57"/>
+        <axis xyz="0 0 1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-2.51"
+            upper="2.51"
+        />
+    </joint>
+
+    <link name="link_3">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/link_3.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision>
+            <origin xyz="0.2 0 0" rpy="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.055" length="0.1"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_3" type="revolute">
+        <parent link="link_2"/>
+        <child link="link_3"/>
+        <origin xyz="0.225 0 0" rpy="0 0 0"/>
+        <axis xyz="0 0 1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-2.51"
+            upper="2.51"
+        />
+    </joint>
+
+    <link name="link_4">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/link_4.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision>
+            <origin xyz="0.1 0 0" rpy="0 1.57 0"/>
+            <geometry>
+                <cylinder radius="0.055" length="0.06"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_4" type="revolute">
+        <parent link="link_3"/>
+        <child link="link_4"/>
+        <origin xyz="0.2 0 0" rpy="0 0 0"/>
+        <axis xyz="0 0 1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-2.51"
+            upper="2.51"
+        />
+    </joint>
+
+    <link name="link_5">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/link_5_gripper.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <geometry>
+                <cylinder radius="0.055" length="0.01"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_5" type="revolute">
+        <parent link="link_4"/>
+        <child link="link_5"/>
+        <origin xyz="0.0915 0 0" rpy="0 1.57 0"/>
+        <axis xyz="0 0 1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-2.51"
+            upper="2.51"
+        />
+    </joint>
+
+    <link name="gripper_right">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/rightjaw.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="red"/>
+        </visual>
+        <collision>
+            <origin xyz="0.01 0.025 0.045" rpy="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.0125" length="0.04"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_6" type="prismatic">
+        <parent link="link_5"/>
+        <child link="gripper_right"/>
+        <origin xyz="-0.01 0 0.1015" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-0.018"
+            upper="0.02"
+        />
+    </joint>
+
+    <link name="gripper_left">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh
+                    filename="file://$(find robot_description)/meshes/leftjaw.stl"
+                    scale="0.001 0.001 0.001"
+                />
+            </geometry>
+            <material name="red"/>
+        </visual>
+        <collision>
+            <origin xyz="0.01 -0.025 0.045" rpy="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.0125" length="0.04"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_7" type="prismatic">
+        <parent link="link_5"/>
+        <child link="gripper_left"/>
+        <origin xyz="-0.01 0 0.1015" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+        <mimic joint="joint_6" multiplier="-1"/>
+        <limit
+            effort="1000.0"
+            velocity="100.0"
+            lower="-0.018"
+            upper="0.02"
+        />
+    </joint>
+
+</robot>

src/robot_description/urdf/skyentific_robot_ros2_control.xacro

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <ros2_control name="Arm" type="system">
+        <hardware>
+            <plugin>mock_components/GenericSystem</plugin>
+        </hardware>
+        <joint name="joint_1">
+            <command_interface name="position"/>
+            <state_interface name="position">
+                <param name="initial_value">0.0</param>
+            </state_interface>
+        </joint>
+    </ros2_control>
+
+    <ros2_control name="Gripper" type="system">
+        <hardware>
+            <plugin>mock_components/GenericSystem</plugin>
+        </hardware>
+        <joint name="joint_6">
+            <command_interface name="position"/>
+            <state_interface name="position">
+                <param name="initial_value">0.0</param>
+            </state_interface>
+        </joint>
+    </ros2_control>
+</robot>