P-08activeRobotics & Automation · 2026
Robot Matcha V2 [CLW] — 4-DOF SCARA Matcha Robot
A ROS 2 Humble SCARA robot workspace using MoveIt 2 and ros2_control mock hardware, featuring homing, whisk, clean, Abort → Home safety, Pick a Bowl placement, and an RViz-native control panel.
- Role
- Developer · Motion Planning & Control Stack
- Timeframe
- Apr 2026
- Domain
- Robotics & Automation
- Status
- active
- DOF
- 4
- Middleware
- ROS 2 Humble
- GUI
- RViz Qt Panel
![Robot Matcha V2 [CLW] — 4-DOF SCARA Matcha Robot](/images/projects/P-08_thumbnail_robot-matcha-ros_gui-rviz.png)
Overview
Robot Matcha V2 is a ROS 2 Humble workspace that brings a 4-DOF SCARA arm to life in simulation with MoveIt 2 motion planning and ros2_control mock hardware.
The system centers on an RViz-first control workflow with preset motions, bowl placement tools, workspace safety zones, and a checkpoint-based replay pipeline.
The Challenge
The hard part was not making the arm move. It was making motion planning, safety logic, bowl placement, and execution control behave like a coherent system instead of a pile of disconnected ROS nodes.
Approach
- 01Built the robot model and simulation stack in `scara_description` with URDF/Xacro, controllers, and local visual meshes.
- 02Configured MoveIt 2 planning and joint limits in `scara_moveit_config` for the `scara_arm` group.
- 03Implemented service-driven motion macros in `scara_waypoint_controller` for Homing, Whisk 1/2, Clean 1/2, and Abort → Home.
- 04Added Pick a Bowl placement, safe/unsafe workspace quads, optional interactive markers, and checkpoint planning/execution in RViz.
Outcomes
- Delivered a complete SCARA simulation stack with preset motions and safety-aware execution.
- Enabled RViz-native operation without needing a separate control application.
- Documented a workspace layout that can be extended with local mesh assets and new motion presets.
Stack
Platform
- Ubuntu 22.04
- ROS 2 Humble
- colcon / ament_cmake
Motion
- MoveIt 2
- OMPL
- KDL kinematics
Control
- ros2_control
- mock_components/GenericSystem
- C++17