37 lines
1.0 KiB
Markdown
37 lines
1.0 KiB
Markdown
# Robot Description files for OpenArm
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This package contains description files to generate OpenArm URDFs (Universal Robot Description Files).
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To generate or view the URDF, install ROS2, source the setup script, and clone this package into a workspace.
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For example, for ROS2 Humble:
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```sh
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source /opt/ros/humble/setup.bash
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mkdir -p ~/ros2_ws/src
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git clone https://github.com/enactic/openarm_description.git ~/ros2_ws/src/openarm_description
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colcon build
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source ~/ros2_ws/install/setup.bash
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```
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Then to view the bimanual URDF:
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```sh
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ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=true
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```
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Or to generate a URDF:
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```sh
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URDF_NAME=openarm_bimanual.urdf
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xacro ~/ros2_ws/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > $URDF_NAME
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```
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## License
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Licensed under the Apache License 2.0. See `LICENSE.txt` for details.
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Copyright 2025 Enactic, Inc.
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## Code of Conduct
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All participation in the OpenArm project is governed by our
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[Code of Conduct](CODE_OF_CONDUCT.md).
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