alliander-opensource · Jelmerdw · Apr 9, 2026 · Apr 20, 2026 · Apr 24, 2026 · Apr 28, 2026
diff --git a/.devcontainer/dev/Dockerfile b/.devcontainer/dev/Dockerfile
@@ -37,11 +37,21 @@ RUN apt update && apt install -y --no-install-recommends \
     && apt clean
 
 # Install custom msgs:
+RUN apt update && apt install -y --no-install-recommends \
+    ros-$ROS_DISTRO-ewellix-interfaces \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt autoremove -y \
+    && apt clean
 RUN git clone --depth=1 --filter=blob:none -b v3.1.1 \
     https://github.com/frankarobotics/franka_ros2.git src/franka_ros2 \
     && cd src/franka_ros2 \
     && git sparse-checkout set franka_msgs
 
+# Install debug tools:
+RUN apt update && apt install -y --no-install-recommends \
+    ros-$ROS_DISTRO-plotjuggler-ros \
+    ros-$ROS_DISTRO-rqt-tf-tree
+
 # Setup configuration files:
 COPY .devcontainer/dev/.dev_bashrc /.dev_bashrc
 RUN echo "source /.dev_bashrc" >> /home/$REMOTE_USER/.bashrc

diff --git a/.devcontainer/dev/devcontainer.json b/.devcontainer/dev/devcontainer.json
@@ -14,8 +14,22 @@
   "workspaceMount": "source=${localWorkspaceFolder},target=/alliander_robotics,type=bind",
   "workspaceFolder": "/alliander_robotics",
   "overrideCommand": true,
+  "mounts": [
+    "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+    "source=/dev,target=/dev,type=bind,consistency=cached"
+  ],
   "runArgs": [
-    "--rm"
+    "--rm",
+    "--privileged",
+    "--network=host",
+    "-e",
+    "DISPLAY",
+    "-e",
+    "NVIDIA_VISIBLE_DEVICES=all",
+    "-e",
+    "NVIDIA_DRIVER_CAPABILITIES=all",
+    "-e",
+    "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp"
   ],
   "customizations": {
     "vscode": {

diff --git a/alliander_core/src/alliander_description/CMakeLists.txt b/alliander_core/src/alliander_description/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake_python REQUIRED)
 
 # Shared folders:
 install(
-  DIRECTORY franka husarion ouster velodyne realsense zed nmea_gps
+  DIRECTORY franka husarion ouster velodyne realsense zed nmea_gps ewellix
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/alliander_core/src/alliander_description/ewellix/config/controllers.yaml b/alliander_core/src/alliander_description/ewellix/config/controllers.yaml
@@ -0,0 +1,23 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Based on: 
+# https://github.com/clearpathrobotics/ewellix_lift_common/blob/0.2.1/ewellix_description/config/control/jpc.yaml
+
+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 10 # Hz
+      handle_exceptions: false
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      lift_position_controller:
+        type: position_controllers/JointGroupPositionController
+
+  lift_position_controller:
+    ros__parameters:
+      joints:
+        - lift_lower_joint
diff --git a/alliander_core/src/alliander_description/ewellix/urdf/adapted/ewellix_macro.xacro b/alliander_core/src/alliander_description/ewellix/urdf/adapted/ewellix_macro.xacro
@@ -0,0 +1,290 @@
+<?xml version="1.0"?>
+<!--
+Based on:
+https://github.com/clearpathrobotics/ewellix_lift_common/blob/0.2.1/ewellix_description/urdf/ewellix_macro.xacro
+A copy of the original file is located in the /original directory.
+To compare the two files in VSCode, see:
+https://code.visualstudio.com/docs/editing/codebasics#_compare-files
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="ewellix_link" params="
+    name
+    mesh
+    maximum
+    minimum
+    mass
+    *material">
+    <!-- Parameters -->
+    <xacro:property name="size"
+      value="${dict([
+      ('x', fabs(maximum.x-minimum.x)),
+      ('y', fabs(maximum.y-minimum.y)),
+      ('z', fabs(maximum.z-minimum.z))
+      ])}"/>
+
+    <xacro:property name="thickness" value="0.001"/>
+
+    <xacro:property
+      name="ixx"
+      value="${mass/12 * (size['y']**2 + size['z']**2)}"/>
+    <xacro:property
+      name="iyy"
+      value="${mass/12 * (size['x']**2 + size['z']**2)}"/>
+    <xacro:property
+      name="izz"
+      value="${mass/12 * (size['x']**2 + size['y']**2)}"/>
+
+    <!-- Link -->
+    <link name="${name}">
+      <visual>
+        <origin xyz="0.0 0.0 ${-minimum.z}" rpy="0.0 0.0 0.0"/>
+        <geometry>
+          <mesh filename="${mesh}"/>
+        </geometry>
+        <xacro:insert_block name="material"/>
+      </visual>
+
+      <collision>
+        <origin xyz="0.0 0.0 ${size['z']/2}" rpy="0.0 0.0 0.0"/>
+        <geometry>
+          <box size="${size['x']} ${size['y']} ${size['z']}"/>
+        </geometry>
+        <xacro:insert_block name="material"/>
+      </collision>
+
+      <inertial>
+        <mass value="${mass}"/>
+        <origin xyz="0.0 0.0 ${size['z']/2}" rpy="0.0 0.0 0.0"/>
+        <inertia
+          ixx="${ixx}" ixy="0.0" ixz="0.0"
+          iyy="${iyy}" iyz="0.0"
+          izz="${izz}"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="ewellix_prismatic_link" params="
+    name
+    mesh
+    maximum
+    minimum
+    mass
+    *material">
+    <!-- Link -->
+    <!-- Fixed Joint -->
+  </xacro:macro>
+
+  <!-- Common Macro for Ewellix Lift -->
+  <xacro:macro name="ewellix_lift" params="
+    parent
+    tf_prefix
+    add_plate:=true
+    add_mount:=true
+    initial_positions:=${dict(upper=0.0, lower=0.0)}
+    parameters_file:='$(find ewellix_description)/config/tlt_x25.yaml'
+    generate_ros2_control_tag:=false
+    use_fake_hardware:=false
+    sim_gazebo:=false
+    port='/dev/ttyUSB0'
+    baud=38400
+    timeout=1000
+    conversion=3225
+    rated_effort=2000
+    tolerance=0.005
+    *origin">
+    <!-- Parameters -->
+    <xacro:property name="parameters" value="${xacro.load_yaml(parameters_file)}"/>
+
+    <!-- Plate -->
+    <xacro:if value="${add_plate}">
+      <xacro:ewellix_link
+        name="${tf_prefix}plate_link"
+        mesh="package://ewellix_description/meshes/${parameters.plate.mesh}"
+        maximum="${parameters.plate.max}"
+        minimum="${parameters.plate.min}"
+        mass="${parameters.plate.mass}">
+        <material name="${parameters.plate.material.name}">
+        <color rgba="${parameters.plate.material.color}"/>
+        </material>
+      </xacro:ewellix_link>
+
+      <joint name="${tf_prefix}plate_joint" type="fixed">
+        <child link="${tf_prefix}plate_link"/>
+        <parent link="${parent}"/>
+        <xacro:insert_block name="origin"/>
+      </joint>
+
+      <joint name="${tf_prefix}base_joint" type="fixed">
+        <child link="${tf_prefix}base_link"/>
+        <parent link="${tf_prefix}plate_link"/>
+        <origin xyz="0.0 0.0 ${fabs(parameters.plate.max.z - parameters.plate.min.z) + parameters.base.offset}" rpy="0.0 0.0 0.0"/>
+      </joint>
+    </xacro:if>
+    <xacro:unless value="${add_plate}">
+      <joint name="${tf_prefix}base_joint" type="fixed">
+        <child link="${tf_prefix}base_link"/>
+        <parent link="${parent}"/>
+        <xacro:insert_block name="origin"/>
+      </joint>
+    </xacro:unless>
+
+    <!-- Base -->
+    <xacro:ewellix_link
+      name="${tf_prefix}base_link"
+      mesh="package://ewellix_description/meshes/${parameters.base.mesh}"
+      maximum="${parameters.base.max}"
+      minimum="${parameters.base.min}"
+      mass="${parameters.base.mass}">
+      <material name="${parameters.base.material.name}">
+      <color rgba="${parameters.base.material.color}"/>
+      </material>
+    </xacro:ewellix_link>
+
+    <!-- Lower Tower -->
+    <xacro:ewellix_link
+      name="${tf_prefix}lower_link"
+      mesh="package://ewellix_description/meshes/${parameters.lower.mesh}"
+      maximum="${parameters.lower.max}"
+      minimum="${parameters.lower.min}"
+      mass="${parameters.lower.mass}">
+      <material name="${parameters.lower.material.name}">
+      <color rgba="${parameters.lower.material.color}"/>
+      </material>
+    </xacro:ewellix_link>
+
+    <joint name="${tf_prefix}lower_joint" type="prismatic">
+      <child link="${tf_prefix}lower_link"/>
+      <parent link="${tf_prefix}base_link"/>
+      <origin
+        xyz="0.0 0.0 ${parameters.lower.offset}"
+        rpy="0.0 0.0 0.0"/>
+      <limit
+        effort="${parameters.lower.joint.limit.effort}"
+        lower="${parameters.lower.joint.limit.lower}"
+        upper="${parameters.lower.joint.limit.upper}"
+        velocity="${parameters.lower.joint.limit.velocity}"/>
+      <axis xyz="0 0 1"/>
+      <dynamics friction="0.01" damping="0.01"/>
+    </joint>
+
+    <!-- Upper Tower -->
+    <xacro:ewellix_link
+      name="${tf_prefix}upper_link"
+      mesh="package://ewellix_description/meshes/${parameters.upper.mesh}"
+      maximum="${parameters.upper.max}"
+      minimum="${parameters.upper.min}"
+      mass="${parameters.upper.mass}">
+      <material name="${parameters.upper.material.name}">
+      <color rgba="${parameters.upper.material.color}"/>
+      </material>
+    </xacro:ewellix_link>
+
+    <joint name="${tf_prefix}upper_joint" type="prismatic">
+      <child link="${tf_prefix}upper_link"/>
+      <parent link="${tf_prefix}lower_link"/>
+      <origin
+        xyz="0.0 0.0 ${parameters.upper.offset}"
+        rpy="0.0 0.0 0.0"/>
+      <axis xyz="0 0 1"/>
+      <limit
+        effort="${parameters.upper.joint.limit.effort}"
+        lower="${parameters.upper.joint.limit.lower}"
+        upper="${parameters.upper.joint.limit.upper}"
+        velocity="${parameters.upper.joint.limit.velocity}"/>
+      <dynamics friction="0.01" damping="0.01"/>
+      <mimic joint="${tf_prefix}lower_joint"/>
+    </joint>
+
+    <!-- Mount -->
+    <xacro:if value="${add_mount and parameters.get('mount')}">
+      <!-- Mount: Arm Mounting Plate -->
+      <xacro:ewellix_link
+        name="${tf_prefix}mount_link"
+        mesh="package://ewellix_description/meshes/${parameters.mount.mesh}"
+        maximum="${parameters.mount.max}"
+        minimum="${parameters.mount.min}"
+        mass="${parameters.mount.mass}">
+        <material name="${parameters.mount.material.name}">
+        <color rgba="${parameters.mount.material.color}"/>
+        </material>
+      </xacro:ewellix_link>
+
+      <joint name="${tf_prefix}_mount_link_joint" type="fixed">
+        <child link="${tf_prefix}mount_link"/>
+        <parent link="${tf_prefix}upper_link"/>
+        <origin
+          xyz="0.0 0.0 ${fabs(parameters.upper.max.z - parameters.upper.min.z) + parameters.mount.offset}"
+          rpy="0.0 0.0 0.0"/>
+      </joint>
+
+      <link name="${tf_prefix}mount">
+        <inertial>
+          <mass value="0.0001"/> <!-- Gazebo does not spawn the link, when the mass is zero. -->
+        </inertial>
+      </link>
+      <joint name="${tf_prefix}mount_joint" type="fixed">
+        <child link="${tf_prefix}mount"/>
+        <parent link="${tf_prefix}mount_link"/>
+        <origin
+          xyz="0.0 0.0 ${fabs(parameters.mount.max.z - parameters.mount.min.z)}"
+          rpy="0.0 0.0 0.0"/>
+      </joint>
+
+    </xacro:if>
+    <xacro:unless value="${add_mount and parameters.get('mount')}">
+      <!-- Mount: Virtual Link -->
+      <link name="${tf_prefix}mount"/>
+
+      <joint name="${tf_prefix}mount_joint" type="fixed">
+        <child link="${tf_prefix}mount"/>
+        <parent link="${tf_prefix}upper_link"/>
+        <origin
+          xyz="0.0 0.0 ${fabs(parameters.upper.max.z - parameters.upper.min.z)}"
+          rpy="0.0 0.0 0.0"/>
+      </joint>
+    </xacro:unless>
+
+    <!-- ROS 2 Controls -->
+    <xacro:if value="${generate_ros2_control_tag}">
+      <ros2_control name="${tf_prefix}hardware" type="system">
+        <hardware>
+          <xacro:if value="${sim_gazebo}">
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+          </xacro:if>
+          <xacro:if value="${use_fake_hardware}">
+            <plugin>mock_components/GenericSystem</plugin>
+            <param name="state_following_offset">0.0</param>
+            <param name="calculate_dynamics">true</param>
+          </xacro:if>
+          <xacro:unless value="${use_fake_hardware or sim_gazebo}">
+            <plugin>ewellix_driver/EwellixHardwareInterface</plugin>
+            <param name="port">${port}</param>
+            <param name="baud">${baud}</param>
+            <param name="timeout">${timeout}</param>
+            <param name="conversion">${conversion}</param>
+            <param name="rated_effort">${rated_effort}</param>
+            <param name="tolerance">${tolerance}</param>
+            <param name="encoder_limits_lower">${parameters.encoder_limits.lower}</param>
+            <param name="encoder_limits_upper">${parameters.encoder_limits.upper}</param>
+          </xacro:unless>
+        </hardware>
+        <joint name="${tf_prefix}lower_joint">
+          <command_interface name="position"/>
+          <state_interface name="position">
+            <param name="initial_value">0.001</param> <!-- The joint is stuck in Gazebo, when in/on it's limit. -->
+          </state_interface>
+          <state_interface name="velocity"/>
+          <state_interface name="effort"/>
+        </joint>
+        <xacro:if value="${sim_gazebo or use_fake_hardware}">
+          <joint name="${tf_prefix}upper_joint">
+            <param name="mimic">${tf_prefix}lower_joint</param>
+            <param name="multiplier">1</param>
+          </joint>
+        </xacro:if>
+      </ros2_control>
+    </xacro:if>
+
+  </xacro:macro>
+</robot>
diff --git a/alliander_core/src/alliander_description/ewellix/urdf/adapted/ewellix_macro.xacro.license b/alliander_core/src/alliander_description/ewellix/urdf/adapted/ewellix_macro.xacro.license
@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		SPDX-FileCopyrightText: Alliander N. V.

		SPDX-License-Identifier: Apache-2.0