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ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

ewellix_lift_common repository

ewellix_description ewellix_interfaces ewellix_lift_common ewellix_moveit_config ewellix_sim ewellix_viz

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/clearpathrobotics/ewellix_lift_common.git
VCS Type git
VCS Version jazzy
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ewellix_description 0.2.0
ewellix_interfaces 0.2.0
ewellix_lift_common 0.2.0
ewellix_moveit_config 0.2.0
ewellix_sim 0.2.0
ewellix_viz 0.2.0

README

Ewellix Common Packages

ROS2 description, MoveIt configuration, and interface packages for the Ewellix TLT lifts.

Ewellix TLT lifts, from 300mm to 700mm models.

Ewellix Driver Package

See the Ewellix driver repository for more information on commanding a real lift through ROS.

Ewellix Visualization

The ewellix_viz package provides a launch file to load the URDF using specific lift parameters and display it in RViz.

By default, the tlt_x25 lift is used. This lift has a 500 mm stroke, but has a taller base than the tlt_x15 that provides less torque.

Ewellix TLT x25 Lift, 500 mm model in RViz

ros2 launch ewellix_viz rviz_model.launch.py

Lift Parameters

To switch to a different lift type, pass in a different configuration file using the lift_parameters launch parameter. For example, the Ewellix UR 620 designed to mount UR manipulators can be selected as follows:

Ewellix UR 620 Lift in RViz

ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml

Change the /path/to/ path prefix with the path to the ur_620.yaml in the ewellix_description package

Base Plate

It is also possible to the move the base plate and mounting plate from the model.

To remove the base plate, use the add_plate launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_plate:=false

Mounting Plate

To remove the mounting plate, use the add_mount launch argument:

 
ros2 launch ewellix_viz rviz_model.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=false

Ewellix Simulation

The simulation requires Gazebo installed from the ROS vendor packages. Use rosdep to install the dependencies on the ewellix_sim package.

Use the same parameters from the Ewellix Visualization section to select a lift type, then launch the simulation from the ewellix_sim package launch file.

Gazebo Simulation of Ewellix Lift UR 620

ros2 launch ewellix_sim simulation.launch.py lift_parameters:=/path/to/ewellix_description/config/ur_620.yaml add_mount:=true add_plate:=true

Simulation without MoveIt!

By default, the controller loaded to the simulated ROS 2 control plugin is the JointGroupPositionController using the jpc.yaml. This controller allows the desired position of the lift to be set directly by the user through the /lift_position_controller/commands topic.

After starting the simulation, use the following command to set the height of the lift:

File truncated at 100 lines see the full file

CONTRIBUTING