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Delete unplanned single arm moveit (#20)

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Removed the unplanned single arm moveit
This commit is contained in:
Yue Yin 2025-06-02 15:05:11 +09:00 committed by GitHub
parent 14f160bba4
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20
openarm_description/urdf/openarm_sensors.xacro
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<?xml version="1.0"?>
<!--
　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.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
</robot>

24
openarm_moveit_config/.setup_assistant
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# 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.
moveit_setup_assistant_config:
urdf:
package: openarm_description
relative_path: urdf/openarm.urdf
srdf:
relative_path: config/openarm.srdf
package_settings:
author_name: Thomason Zhou
author_email: t95zhou@uwaterloo.ca
generated_timestamp: 1744186910

30
openarm_moveit_config/CMakeLists.txt
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# 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.
cmake_minimum_required(VERSION 3.22)
project(openarm_moveit_config)
find_package(ament_cmake REQUIRED)
ament_package()
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
PATTERN "setup_assistant.launch" EXCLUDE)
endif()
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

202
openarm_moveit_config/LICENSE
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25
openarm_moveit_config/config/initial_positions.yaml
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# 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.
# Default initial positions for openarm's ros2_control fake system
initial_positions:
left_pris1: 0
rev1: 0
rev2: 0
rev3: 0
rev4: 0
rev5: 0
rev6: 0
rev7: 0

69
openarm_moveit_config/config/joint_limits.yaml
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@ -1,69 +0,0 @@
# 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.
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
left_pris1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
rev7:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_pris2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

18
openarm_moveit_config/config/kinematics.yaml
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# 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.
openarm_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001

65
openarm_moveit_config/config/moveit.rviz
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@ -1,65 +0,0 @@
# 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.
Panels:
- Class: rviz_common/Displays
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Displays:
- Class: rviz_default_plugins/Grid
Name: Grid
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
Name: MotionPlanning
Planned Path:
Loop Animation: true
State Display Time: 0.05 s
Trajectory Topic: display_planned_path
Planning Scene Topic: monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Robot:
Robot Alpha: 0.5
Value: true
Global Options:
Fixed Frame: dummy_link
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.0
Focal Point:
X: -0.1
Y: 0.25
Z: 0.30
Name: Current View
Pitch: 0.5
Target Frame: dummy_link
Yaw: -0.623
Window Geometry:
Height: 975
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Width: 1200

41
openarm_moveit_config/config/moveit_controllers.yaml
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# 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.
# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- openarm_arm_controller
- gripper_controller
openarm_arm_controller:
type: FollowJointTrajectory
joints:
- rev1
- rev2
- rev3
- rev4
- rev5
- rev6
- rev7
action_ns: follow_joint_trajectory
default: true
gripper_controller:
type: GripperCommand
joints:
- left_pris1
action_ns: gripper_cmd
default: true

52
openarm_moveit_config/config/ompl_planning.yaml
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@ -1,52 +0,0 @@
# 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.
openarm_moveit_config:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.005
planning_plugin: 'ompl_interface/OMPLPlanner'
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
start_state_max_bounds_error: 0.1

104
openarm_moveit_config/config/openarm.srdf
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<?xml version="1.0" encoding="UTF-8"?>
<!--
　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.
-->
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="openarm">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="openarm_arm">
<link name="link1"/>
<link name="link2"/>
<link name="link3"/>
<link name="link4"/>
<link name="link5"/>
<link name="link6"/>
<link name="link7"/>
<link name="link8"/>
<joint name="rev1"/>
<joint name="rev2"/>
<joint name="rev3"/>
<joint name="rev4"/>
<joint name="rev5"/>
<joint name="rev6"/>
<joint name="rev7"/>
<chain base_link="link1" tip_link="link8"/>
</group>
<group name="gripper">
<link name="link_left_jaw"/>
<link name="link_right_jaw"/>
<joint name="left_pris1"/>
<joint name="right_pris2"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="zero_pos_vertical" group="openarm_arm">
<joint name="rev1" value="0"/>
<joint name="rev2" value="0"/>
<joint name="rev3" value="0"/>
<joint name="rev4" value="0"/>
<joint name="rev5" value="0"/>
<joint name="rev6" value="0"/>
<joint name="rev7" value="0"/>
</group_state>
<group_state name="horizontal_bent_elbow" group="openarm_arm">
<joint name="rev1" value="0"/>
<joint name="rev2" value="-1.5707"/>
<joint name="rev3" value="-1.5707"/>
<joint name="rev4" value="2.4974"/>
<joint name="rev5" value="0"/>
<joint name="rev6" value="0"/>
<joint name="rev7" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="gripper" parent_link="link8" group="gripper" parent_group="openarm_arm"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="dummy_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link5" reason="Never"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link2" link2="link5" reason="Never"/>
<disable_collisions link1="link2" link2="link6" reason="Never"/>
<disable_collisions link1="link2" link2="link7" reason="Never"/>
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
<disable_collisions link1="link4" link2="link7" reason="Never"/>
<disable_collisions link1="link4" link2="link_left_jaw" reason="Never"/>
<disable_collisions link1="link4" link2="link_right_jaw" reason="Never"/>
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
<disable_collisions link1="link5" link2="link7" reason="Never"/>
<disable_collisions link1="link5" link2="link8" reason="Never"/>
<disable_collisions link1="link5" link2="link_left_jaw" reason="Never"/>
<disable_collisions link1="link5" link2="link_right_jaw" reason="Never"/>
<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
<disable_collisions link1="link6" link2="link8" reason="Default"/>
<disable_collisions link1="link6" link2="link_left_jaw" reason="Never"/>
<disable_collisions link1="link6" link2="link_right_jaw" reason="Never"/>
<disable_collisions link1="link7" link2="link8" reason="Adjacent"/>
<disable_collisions link1="link7" link2="link_left_jaw" reason="Never"/>
<disable_collisions link1="link7" link2="link_right_jaw" reason="Never"/>
<disable_collisions link1="link8" link2="link_left_jaw" reason="Adjacent"/>
<disable_collisions link1="link8" link2="link_right_jaw" reason="Adjacent"/>
<disable_collisions link1="link_left_jaw" link2="link_right_jaw" reason="Never"/>
</robot>

21
openarm_moveit_config/config/openarm.urdf.xacro
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@ -1,21 +0,0 @@
<?xml version="1.0"?>
<!--
　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.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
<!-- Import openarm urdf file -->
<xacro:include filename="$(find openarm_description)/urdf/openarm.urdf.xacro" />
</robot>

20
openarm_moveit_config/config/pilz_cartesian_limits.yaml
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@ -1,20 +0,0 @@
# 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.
# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

49
openarm_moveit_config/config/ros2_controllers.yaml
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@ -1,49 +0,0 @@
# 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.
# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
gripper_controller:
type: position_controllers/GripperActionController
openarm_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
gripper_controller:
ros__parameters:
joint: left_pris1
openarm_arm_controller:
ros__parameters:
joints:
- rev1
- rev2
- rev3
- rev4
- rev5
- rev6
- rev7
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity

39
openarm_moveit_config/config/sensors_3d.yaml
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@ -1,39 +0,0 @@
# 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.
sensors:
- default_sensor
- kinect_depthimage
default_sensor:
far_clipping_plane_distance: 5.0
filtered_cloud_topic: filtered_cloud
image_topic: /head_mount_kinect/depth_registered/image_raw
max_update_rate: 1.0
near_clipping_plane_distance: 0.3
padding_offset: 0.03
padding_scale: 4.0
queue_size: 5
sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
shadow_threshold: 0.2
kinect_depthimage:
far_clipping_plane_distance: 5.0
filtered_cloud_topic: filtered_cloud
image_topic: /head_mount_kinect/depth_registered/image_raw
max_update_rate: 1.0
near_clipping_plane_distance: 0.3
padding_offset: 0.03
padding_scale: 4.0
queue_size: 5
sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
shadow_threshold: 0.2

21
openarm_moveit_config/launch/demo.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_demo_launch(moveit_config)

21
openarm_moveit_config/launch/move_group.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_move_group_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_move_group_launch(moveit_config)

21
openarm_moveit_config/launch/moveit_rviz.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_moveit_rviz_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_moveit_rviz_launch(moveit_config)

21
openarm_moveit_config/launch/rsp.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_rsp_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_rsp_launch(moveit_config)

21
openarm_moveit_config/launch/setup_assistant.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_setup_assistant_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_setup_assistant_launch(moveit_config)

21
openarm_moveit_config/launch/spawn_controllers.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_spawn_controllers_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_spawn_controllers_launch(moveit_config)

21
openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_static_virtual_joint_tfs_launch(moveit_config)

21
openarm_moveit_config/launch/warehouse_db.launch.py
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@ -1,21 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_warehouse_db_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs()
return generate_warehouse_db_launch(moveit_config)

65
openarm_moveit_config/package.xml
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@ -1,65 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<!--
　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.
-->
<package format="3">
<name>openarm_moveit_config</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the openarm with the MoveIt Motion Planning Framework
</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
<license>Apache-2.0</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
<url type="repository">https://github.com/ros-planning/moveit2</url>
<author email="t95zhou@uwaterloo.ca">Thomason Zhou</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_kinematics</exec_depend>
<exec_depend>moveit_planners</exec_depend>
<exec_depend>moveit_simple_controller_manager</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>xacro</exec_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
<exec_depend>controller_manager</exec_depend>
<exec_depend>moveit_configs_utils</exec_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend>
<exec_depend>moveit_ros_warehouse</exec_depend>
<exec_depend>moveit_setup_assistant</exec_depend>
<exec_depend>openarm_description</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_default_plugins</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>