openarm_ros2/README.md

# ROS2 packages for OpenArm robots

- openarm_bimanual_description: urdf with pedestal torso and arm on each side
- openarm_description: urdf with gripper actuator
- 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" />

### TODO: 
- [ ] Add results from true inertia tests to URDF

## MoveIt2 Support

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

### TODO:
- [ ] ROS 2 control packages (separate branch)

Tested with:
- [x] Rolling
- [x] Jazzy
- [x] Humble


## License

All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).
Verified working with humble/rolling 2025-02-16 08:00:07 +00:00			`# ROS2 packages for OpenArm robots`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00
Update README.md with pictures of completed openarm_bimanual_description urdf 2025-03-11 05:22:47 +00:00			`- openarm_bimanual_description: urdf with pedestal torso and arm on each side`
Add new urdf 2025-03-08 11:45:28 +00:00			`- openarm_description: urdf with gripper actuator`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)`

Update README.md with pictures of completed openarm_bimanual_description urdf 2025-03-11 05:22:47 +00:00			`## 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" />`

			`### TODO:`
			`- [ ] Add results from true inertia tests to URDF`

			`## MoveIt2 Support`

Add moveit video to README.md 2025-02-07 09:43:27 +00:00			`https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef`

Update README.md with pictures of completed openarm_bimanual_description urdf 2025-03-11 05:22:47 +00:00			`### TODO:`
			`- [ ] ROS 2 control packages (separate branch)`

Update description to ROS2 2025-02-08 08:03:16 +00:00			`Tested with:`
Verified working with humble/rolling 2025-02-16 08:00:07 +00:00			`- [x] Rolling`
			`- [x] Jazzy`
			`- [x] Humble`
Add moveit video to README.md 2025-02-07 09:43:27 +00:00
Add todo note about inertial tests for URDF 2025-03-10 02:25:28 +00:00
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`## License`

Update description to ROS2 2025-02-08 08:03:16 +00:00			All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).