ROS 2 Dual Arm Teleoperation

A ROS 2 Humble workspace for markerless, real-time teleoperation of dual 6-DOF robotic arms (UR5e) equipped with Robotiq 2F-85 grippers, controlled entirely via a standard webcam and RViz. Built just for fun.

GitHub: wzaielamri/ros2_dual_arm_teleop

What it does

• Tracks both hands from a webcam using MediaPipe Hand Landmarker
• Left hand → left arm, right hand → right arm
• 2D planar movement (X/Y) + yaw rotation from hand orientation
• Gripper open/close via thumb–index pinch gesture
• Simulated entirely in RViz with mock hardware interfaces (no real robot needed)

Stack

• ROS 2 Humble: system
• MoveIt + MoveIt Servo: motion planning and real-time Cartesian control
• MediaPipe: camera-based hand landmark detection
• OpenCV: video capture and GUI overlay
• ros2_control: joint trajectory and forward command controllers

Noise handling

• Exponential moving average (EMA) smoothing
• Deadband filtering to suppress jitter at rest
• Max-delta clamping to reject outlier jumps
• Butterworth low-pass filter in MoveIt Servo