arshadlab · jb-balaji · Jan 16, 2026 · Jan 16, 2026 · Jan 17, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(multi_robot_arm)
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(gazebo_ros REQUIRED)
+find_package(ros_gz_sim REQUIRED)
 
 include_directories(include)
 link_directories(
@@ -16,7 +16,14 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   std_msgs
 )
 
-install(DIRECTORY launch config urdf worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config urdf worlds scripts DESTINATION share/${PROJECT_NAME})
+
+# Install Python scripts
+install(PROGRAMS
+  scripts/dance_arms.py
+  scripts/activate_controllers.py
+  DESTINATION lib/${PROJECT_NAME}
+)
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/multi_robot_arm.dsv.in")
 
 ament_package()
diff --git a/README.md b/README.md
@@ -6,20 +6,62 @@ The UR5 robotic arm, a versatile and widely-used model in robotics, serves as th
 ![image](https://github.com/arshadlab/multi_robot_arm/assets/85929438/4e052e79-65c7-4fe5-b73a-871b76b9f01e)
 ![image](https://github.com/arshadlab/multi_robot_arm/assets/85929438/3189c420-33c1-424c-aaa4-0cc2b8cc868c)
 
+## Demo: Gazebo Harmonic Simulation
+Check out the demo video showcasing multi-robot arm simulation with Gazebo Harmonic:
+
+![Gazebo Harmonic Demo](./run.mp4)
+
+## What's New
+
+### ROS2 Jazzy & Gazebo Harmonic Support
+We've added full support for **ROS2 Jazzy** and **Gazebo Harmonic**, the latest stable distributions in the ROS2 ecosystem. This brings several benefits:
+
+- **Enhanced Physics Simulation**: Gazebo Harmonic provides improved physics accuracy and performance
+- **Improved Compatibility**: Full integration with modern ROS2 tooling and libraries
+- **Better Performance**: Optimized for the latest hardware and software stacks
+- **ROS-Gazebo Bridge**: Native support via `ros-gz` for seamless ROS2-Gazebo integration
+
+### Launch Files
+- **`gazebo_arm.launch.py`**: For ROS2 Humble + Gazebo 11 (legacy)
+- **`gazebo_harmonic_arm.launch.py`**: For ROS2 Jazzy + Gazebo Harmonic (recommended)
+
+## Python MoveIt2 Bindings
 The present version of this tutorial employs a fork of pymoveit2, a Python library developed to facilitate interaction with MoveIt2. This has been an effective approach and served the purpose well.
 
 However, in recent times, MoveIt2 has introduced native Python bindings in its codebase. These bindings enable direct interaction with MoveIt2 via Python, eliminating the need for additional libraries like pymoveit2. This advancement simplifies the setup process, reduces dependency issues, and potentially enhances performance and stability.
 
 As part of ongoing improvements and in the spirit of keeping up with these updates, future versions of this tutorial may transition to using the Python bindings provided directly by MoveIt2. This would replace the current reliance on the pymoveit2 fork, streamlining the implementation process and ensuring compatibility with future developments in MoveIt2. Consequently, this change will not only refine the tutorial but also make it more adaptable and robust for future use-cases.
 
 ## Setup
-The package is verified with ROS2 Foxy and Humble.
 
-Dependencies: ROS2 [Foxy or Humble], moveit2, pymoveit2, Gazebo 11
+### Supported Configurations
+The package is verified and tested with the following configurations:
+
+| ROS2 Version | Gazebo Version | Launch File | Status |
+|---|---|---|---|
+| Humble | 11 | `gazebo_arm.launch.py` | ✓ Tested |
+| Jazzy | Harmonic | `gazebo_harmonic_arm.launch.py` | ✓ Tested |
+
+### Dependencies
+
+**For ROS2 Humble + Gazebo 11:**
+- ROS2 Humble
+- moveit2
+- pymoveit2
+- Gazebo 11
+
+**For ROS2 Jazzy + Gazebo Harmonic:**
+- ROS2 Jazzy
+- moveit2
+- pymoveit2
+- Gazebo Harmonic
+- ros-gz (ROS-Gazebo bridge)
 
 ## Clone and Build
-```
-source /opt/ros/<DISTRO>/setup.bash
+
+### For ROS2 Humble
+```bash
+source /opt/ros/humble/setup.bash
 mkdir -p robot_ws/src
 cd robot_ws/src
 git clone https://github.com/arshadlab/multi_robot_arm.git
@@ -29,30 +71,54 @@ rosdep install --from-paths src --ignore-src -r -y
 colcon build --symlink-install
 ```
 
-## Launch
-### Console A (Launch Gazebo)
+### For ROS2 Jazzy
+```bash
+source /opt/ros/jazzy/setup.bash
+mkdir -p robot_ws/src
+cd robot_ws/src
+git clone https://github.com/arshadlab/multi_robot_arm.git
+cd ..
+rosdep install --from-paths src --ignore-src -r -y
+sudo apt install ros-jazzy-pymoveit2
+colcon build --symlink-install
 ```
+
+**Note:** For ROS2 Jazzy, pymoveit2 is available as an apt package, so cloning from git is not required.
+
+## Launch
+
+### Option 1: ROS2 Humble with Gazebo 11
+#### Console A (Launch Gazebo)
+```bash
 source ./install/setup.bash
 ros2 launch multi_robot_arm gazebo_arm.launch.py
 ```
 
-### Console B (Trigger ARM movement)
-
-ARM1 movement to position [0.5, 0.4,0.2] using kinematic path planner
+### Option 2: ROS2 Jazzy with Gazebo Harmonic (Recommended)
+#### Console A (Launch Gazebo Harmonic)
+```bash
+source ./install/setup.bash
+ros2 launch multi_robot_arm gazebo_harmonic_arm.launch.py
 ```
+
+### Triggering ARM Movement
+#### Console B (Trigger ARM movement)
+
+ARM1 movement to position [0.5, 0.4, 0.2] using kinematic path planner:
+```bash
 source ./install/setup.bash
 cd ./src/pymoveit2/examples
-python ex_pose_goal.py --ros-args -r __ns:=/arm1 -p position:=[0.5, 0.4,0.2]
+python ex_pose_goal.py --ros-args -r __ns:=/arm1 -p position:=[0.5,0.4,0.2]
 ```
 
-ARM4 movement to position [0.5, 0.4,0.2] using cartesian path planner
-```
+ARM4 movement to position [0.5, 0.4, 0.2] using cartesian path planner:
+```bash
 source ./install/setup.bash
 cd ./src/pymoveit2/examples
-python ex_pose_goal.py --ros-args -r __ns:=/arm4 -p position:=[0.5, 0.4,0.2] -p cartesian:=True
+python ex_pose_goal.py --ros-args -r __ns:=/arm4 -p position:=[0.5,0.4,0.2] -p cartesian:=True
 ```
 
-__ns:=/namespace parameter is to direct commands to a specific instance of robot. Position coordinates are given relative to arm position.
+**Note:** The `__ns:=/namespace` parameter directs commands to a specific instance of robot. Position coordinates are given relative to arm position.
 
 ## Acknowledgement
-pymoveit2 -> https://github.com/AndrejOrsula/pymoveit2
+pymoveit2 → https://github.com/AndrejOrsula/pymoveit2
diff --git a/config/ur/ur5/ros_controllers_robot.yaml b/config/ur/ur5/ros_controllers_robot.yaml
@@ -44,7 +44,7 @@ arm_controller:
       wrist_1_joint: { trajectory: 0.25, goal: 0.1 }
       wrist_2_joint: { trajectory: 0.25, goal: 0.1 }
       wrist_3_joint: { trajectory: 0.25, goal: 0.1 }
-    use_sim_time: false
+    use_sim_time: true
 
 forward_velocity_controller:
   ros__parameters:
@@ -58,7 +58,7 @@ forward_velocity_controller:
 
     interface_name: 
       - velocity
-    use_sim_time: false
+    use_sim_time: true
 forward_position_controller:
   ros__parameters:
     joints:
@@ -68,19 +68,4 @@ forward_position_controller:
       - wrist_1_joint
       - wrist_2_joint
       - wrist_3_joint
-    use_sim_time: false
-# Gripper controller
-rgripper_controller1:
-  ros__parameters:
-    joint: robotiq_85_left_knuckle_joint
-    action_monitor_rate: 20.0
-    goal_tolerance: 0.002
-    max_effort: 100.0
-    stall_velocity_threshold: 0.001
-    stall_timeout: 1.0
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    use_sim_time: false
+    use_sim_time: true
diff --git a/launch/gazebo_arm.launch.py b/launch/gazebo_arm.launch.py
@@ -165,8 +165,8 @@ def spawn_robot(
 
     robot_description = {"robot_description": robot_urdf}
 
-    kinematics_yaml = load_yaml(
-        package_path, "config/ur/" + robot_type + "/kinematics.yaml"
+    kinematics_yaml = xacro.load_yaml(
+        os.path.join(package_path, "config/ur/" + robot_type + "/kinematics.yaml")
     )
 
     robot_description_semantic_config = load_file(
@@ -185,22 +185,21 @@ def spawn_robot(
         },
     }
 
-    ompl_planning_yaml = load_yaml(
-        package_path, "config/ur/" + robot_type + "/ompl_planning.yaml"
+    ompl_planning_yaml = xacro.load_yaml(
+        os.path.join(package_path, "config/ur/" + robot_type + "/ompl_planning.yaml")
     )
 
     ompl_planning_pipeline_config["ompl"].update(ompl_planning_yaml)
 
-    joint_limits_yaml = load_yaml(
-        package_path, "config/ur/" + robot_type + "/joint_limits_planning.yaml"
+    joint_limits_yaml = xacro.load_yaml(
+        os.path.join(package_path, "config/ur/" + robot_type + "/joint_limits_planning.yaml")
     )
 
     joint_limits = {"robot_description_planning": joint_limits_yaml}
 
     # Trajectory Execution Functionality
-    moveit_simple_controllers_yaml = load_yaml(
-        package_path,
-        "config/ur/" + robot_type + "/moveit_controller_manager.yaml"
+    moveit_simple_controllers_yaml = xacro.load_yaml(
+        os.path.join(package_path, "config/ur/" + robot_type + "/moveit_controller_manager.yaml")
     )
 
     moveit_controllers = {
@@ -402,12 +401,3 @@ def load_file(package_path, file_path):
             return file.read()
     except EnvironmentError:
         return None
-
-def load_yaml(package_path, file_path):
-
-    absolute_file_path = os.path.join(package_path, file_path)
-    try:
-        with open(absolute_file_path, "r") as file:
-            return yaml.safe_load(file)
-    except EnvironmentError:
-        return None