# ROS2 packages for OpenArm robots

<p>
  <a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status">
    <img src="https://build.ros2.org/buildStatus/icon?job=Hdev__openarm__ubuntu_jammy_amd64"/>
  </a>
  <a href="https://github.com/reazon-research/openarm_ros2/tree/main/LICENSE" alt="Apache License 2.0">
    <img src="https://img.shields.io/github/license/reazon-research/openarm_ros2"/>
  </a>
</p>

[Quickstart](#installation)


https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4



- openarm_bimanual_description: dual arm urdf with torso and realsense head camera
- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
- openarm_bimanual_bringup: setup scripts for bimanual openarm
- openarm_bringup: setup scripts for single physical openarm
- openarm_description: single arm urdf
- openarm_hardware: hardware interface for ros2_control
- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)


### Description Packages

Each link has a visual mesh and a collision mesh, as shown in the figures below:
  
<img width="412" alt="visual meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/9020efc3-69bc-420d-93a1-305885925638" />
<img width="383" alt="collision meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/6f62184e-ccea-4859-9364-7c7d1b8def86" />

### MoveIt2 Support

https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef

---

## Installation

1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04)
2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)

```sh
source /opt/ros/humble/setup.bash # Change "humble" to your ROS 2 distro, ie:
                                  # source /opt/ros/jazzy/setup.bash 
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git
```

3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)

```sh
cd ~/ros2_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r

sudo apt install -y python3-colcon-common-extensions

#⚠️ If you're using ROS2 Iron or Jazzy, apply the patch below before building:

colcon build
```

4. *In a new terminal*, source the workspace setup script

```sh
cd ~/ros2_ws
source install/setup.bash
```

5. Test the installation by launching a demo. It may be necessary to restart your computer once.

```sh
ros2 launch openarm_bimanual_moveit_config demo.launch.py
```


## ROS2 Jazzy patch

Edit the test source file:
```sh
nano ~/ros2_ws/src/openarm_ros2/openarm_hardware/test/test_openarm_hardware.cpp
```
Find the line:
```sh
  hardware_interface::ResourceManager rm(urdf);
```
Replace it with:
```sh
  ASSERT_NO_THROW({
    auto logger = rclcpp::get_logger("test_logger");
    auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
    hardware_interface::ResourceManager rm(urdf, clock, logger, true, 0);
  });
```
Continue with the build.

---

## License

All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0).

## Code of Conduct

All participation in the ROS2 packages for OpenArm project is governed by our
[Code of Conduct](CODE_OF_CONDUCT.md).
