20 lines
689 B
Markdown
20 lines
689 B
Markdown
|
# MoveIt2 on Bimanual Openarms
|
||
|
|
|
||
|
|
Ensure the ROS2 packages and dependencies are installed by following the instructions in `openarm_ros2/README.md`.
|
||
|
|
|
||
|
|
## Physical Hardware
|
||
|
|
1. Run `init_can.sh` from `openarm_bringup/utils`.
|
||
|
|
By default, can0 is the right arm and can1 is the left arm, but this can be adjusted in the ros2_control definition in `openarm_description/urdf/openarm.ros2_control.xacro`.
|
||
|
|
|
||
|
|
2. Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles.
|
||
|
|
|
||
|
|
```sh
|
||
|
|
ros2 launch openarm_bimanual_bringup depth_camera.launch.py
|
||
|
|
```
|
||
|
|
|
||
|
|
## Launch the demo
|
||
|
|
|
||
|
|
```sh
|
||
|
|
ros2 launch openarm_bimanual_moveit_config demo.launch.py
|
||
|
|
```
|