WayBionic Ground Station

The ROS 2 Jazzy workspace for the WayBionic surgical robot arm. It shows the five-joint arm in RViz as a digital twin, drives it with an Xbox or PS5 controller, checks joint limits and collisions, runs the arm's MKS drives over CAN (simulated by default), and shows the doctor-view camera and live diagnostics.

This is a student research prototype, not a medical device. Everything runs in simulation unless you choose the real drives, and powered tests need a lead present.

Quick start

Install Docker, then build the workspace and run its tests:

git clone https://github.com/Waybionic/waybionic_ground_station.git
cd waybionic_ground_station
docker compose --progress plain build test

Then open the arm in RViz:

Platform	Command
Windows 11 (PowerShell)	docker compose run --rm --build wslg
Linux	./scripts/linux-gui.sh --build
macOS (Apple Silicon)	./scripts/macos.sh setup, then ./scripts/macos.sh launch (setup first)

BuildInstructions.md has every step for each platform.

Documentation

Document	Covers
BuildInstructions.md	Installing, building, testing and opening RViz on Windows, macOS and Linux
Operator guide	Controllers, the self-running demo, the doctor-view camera and the real arm
Launch options	Every argument of ground_station.launch.py
Diagnostics	The engineering monitor panel
CAN and the carrier board	The MKS protocol, the carrier firmware and CAN simulation
CONTRIBUTING.md	Branches, commits, pull requests and reviews

Repository layout

Folder	Contents
waybionic_description	The arm's URDF and meshes, generated from the SolidWorks assembly by scripts/cad/. Regenerate it after CAD changes rather than editing it.
waybionic_bringup	ground_station.launch.py, the RViz layouts and the launch tests
waybionic_teleop	Controller teleop, the collision checks, and the MKS drive node, simulated or real
waybionic_can	The MKS CAN protocol, CAN simulation and the UNO R4 carrier firmware
waybionic_camera	The doctor-view camera bridge and its delay monitoring
waybionic_rviz_plugins	The engineering monitor panel for RViz
waybionic_sensors	IMU publishing and sensor health
waybionic_control, waybionic_diagnostics	The earlier CAN-FD host and the diagnostics command-line tool
waybionic_hardware, waybionic_motion_test	The old four-servo arm's Arduino bridge and motion tests
firmware/tool_board	Firmware for the biomedical tool's motor board
scripts	macos.sh, linux-gui.sh, windows-demo.cmd and the CAD tools
docker, compose.yaml, .devcontainer	The container image, its services and the VS Code Dev Container

Contributing

Read CONTRIBUTING.md before your first pull request. Every change goes through a reviewed pull request into main, and CI builds and tests it on x86-64 and ARM64.