BranchesTags

Repository files navigation

THOR x ROS

This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.

ROS Humble LogoMoveit Humble LogoReact Logo

📦 What’s inside this repository?

  • ws_thor/src - ROS2 Packages for Thor
    All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!

    Rviz & Gazebo

  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    You can save poses, create and execute programs by choosing joint or linear movements for each pose.

    Rviz & Gazebo

🚀 Quick Start

For the Hardcore Penguins: Ubuntu 22.04

Are you a fearless Linux fan who believes real robots should run free and native?
If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!
Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.
👉 See instructions for Ubuntu 22.04

For the Windows Adventurers: Windows 11 + WSL2

Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?
With Windows 11 + WSL2, you can have the best of both worlds.
No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!
👉 See instructions for Windows 11 + WSL2

🤝 Join the Community

Want to contribute or need help?
Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.

About

ROS for Thor Robotic Arm

Resources

Readme
CC-BY-SA-4.0 license
Activity

Stars

12 stars

Watchers

1 watching

Forks

3 forks
Report repository

Releases

Packages

Used by

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
BranchesTags
Repository files navigation
THOR x ROS
This repository brings together all the ROS2 packages required to control the Thor robotic arm using ROS2 Humble and MoveIt2. It also includes Asgard, a modern web-based graphical interface built with React to make operating and programming the arm intuitive and accessible.
ROS Humble LogoMoveit Humble LogoReact Logo
📦 What’s inside this repository?
  • ws_thor/src - ROS2 Packages for Thor
    
All packages and configuration needed to integrate Thor with ROS2 Humble LTS and MoveIt2, enabling motion planning, simulation, and control via RViz.
    
You can also simulate the real robot in Gazebo—perfect for testing before moving to the actual hardware, or if you don’t have a Thor robot yet!
    Rviz & Gazebo
  • /asgard - Asgard: Web GUI
    Asgard is a React-based web application for visual and intuitive control and programming of the Thor arm. No need for command-line interaction!
    
It provides an environment where you can control the robot using joint movements (forward kinematics) or target coordinates (inverse kinematics)—in a way similar to RViz.
    
You can save poses, create and execute programs by choosing joint or linear movements for each pose.
    Rviz & Gazebo
🚀 Quick Start
For the Hardcore Penguins: Ubuntu 22.04
Are you a fearless Linux fan who believes
real robots should run free and native?

If you think installing software is best done with a terminal, some caffeine, and a dash of adventure, this is your path!

Summon the full power of Thor on Ubuntu 22.04 and let the penguin spirit guide your robotic journey.

👉 See instructions for Ubuntu 22.04
For the Windows Adventurers: Windows 11 + WSL2
Are you a brave explorer who likes the comfort of Windows but secretly wants to play in the Linux playground?

With Windows 11 + WSL2, you can have the best of both worlds.

No need to dual boot, invoke dark powers, or sacrifice a USB stick. Just open your terminal, let WSL2 work its magic, and enjoy robotic domination with minimum fuss and maximum style!

👉 See instructions for Windows 11 + WSL2
🤝 Join the Community
Want to contribute or need help?

Join our Thor Robot Discord Community to collaborate and help improve the Thor-ROS project.
About
ROS for Thor Robotic Arm 
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
12 stars
Watchers
1 watching
Forks
3 forks
Report repository
Releases
Packages
Used by
Contributors
Languages