openarm/openarm_ros2
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity
d151836956
openarm_ros2/openarm_bimanual_moveit_config/config/ros2_controllers.yaml

148 lines
3.2 KiB
YAML
Raw Normal View History

Relicense to Apache License 2.0 from BSD 3-Clause License (#13) We are standardizing our software under Apache License 2.0. This PR replaces existing BSD 3-Clause License with Apache 2.0 in this repository. ## About Copyright All commits in this repository are made by Reazon Holdings, Inc. members, so the copyright has been added as follows. - `Copyright 2025 Reazon Holdings, Inc.` ```console $ git shortlog -sn 55 Thomason Zhou 14 thomason 5 takuya kodama 1 Fujimoto Seiji 1 edwin-giang 1 toki ``` ## How it was done We added the new license header directory by directory, with each commit covering a single directory to make review easier. To ensure there are no missing files, we ran the following commands. ``` $ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" . ./openarm_bringup/README.md ./openarm_bimanual_moveit_config/README.md ./openarm_bimanual_description/urdf/openarm_bimanual.urdf ./.gitignore ./README.md ./openarm_description/urdf/openarm.urdf ./openarm_description/resource/openarm_description ``` The following files are auto-generated. - openarm_bimanual_description/urdf/openarm_bimanual.urdf - openarm_description/urdf/openarm.urdf
2025-05-22 07:22:55 +00:00
# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
left_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
right_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
left_gripper_controller:
type: position_controllers/GripperActionController
right_gripper_controller:
type: position_controllers/GripperActionController
left_side_controller:
type: joint_trajectory_controller/JointTrajectoryController
right_side_controller:
type: joint_trajectory_controller/JointTrajectoryController
upper_body_controller:
type: joint_trajectory_controller/JointTrajectoryController
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
left_arm_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
right_arm_controller:
ros__parameters:
joints:
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
command_interfaces:
- position
- velocity
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
state_interfaces:
- position
- velocity
left_gripper_controller:
ros__parameters:
joint: left_left_pris1
right_gripper_controller:
ros__parameters:
joint: right_left_pris1
left_side_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
- left_left_pris1
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
right_side_controller:
ros__parameters:
joints:
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
- right_left_pris1
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
upper_body_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
- left_left_pris1
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
- right_left_pris1
command_interfaces:
- position
- velocity
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
state_interfaces:
- position
Relicense to Apache License 2.0 from BSD 3-Clause License (#13) We are standardizing our software under Apache License 2.0. This PR replaces existing BSD 3-Clause License with Apache 2.0 in this repository. ## About Copyright All commits in this repository are made by Reazon Holdings, Inc. members, so the copyright has been added as follows. - `Copyright 2025 Reazon Holdings, Inc.` ```console $ git shortlog -sn 55 Thomason Zhou 14 thomason 5 takuya kodama 1 Fujimoto Seiji 1 edwin-giang 1 toki ``` ## How it was done We added the new license header directory by directory, with each commit covering a single directory to make review easier. To ensure there are no missing files, we ran the following commands. ``` $ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" . ./openarm_bringup/README.md ./openarm_bimanual_moveit_config/README.md ./openarm_bimanual_description/urdf/openarm_bimanual.urdf ./.gitignore ./README.md ./openarm_description/urdf/openarm.urdf ./openarm_description/resource/openarm_description ``` The following files are auto-generated. - openarm_bimanual_description/urdf/openarm_bimanual.urdf - openarm_description/urdf/openarm.urdf
2025-05-22 07:22:55 +00:00
- velocity
Reference in New Issue Copy Permalink