diff --git a/openarm/package.xml b/openarm/package.xml index 2ae166b..03966be 100644 --- a/openarm/package.xml +++ b/openarm/package.xml @@ -17,7 +17,7 @@ --> openarm - 0.3.0 + 1.0.0 Metapackage for OpenArm Thomason Zhou Apache-2.0 @@ -28,7 +28,6 @@ openarm_bringup openarm_description openarm_hardware - ament_lint_auto ament_lint_common diff --git a/openarm_bimanual_moveit_config/package.xml b/openarm_bimanual_moveit_config/package.xml index f4b49c3..40ac99d 100644 --- a/openarm_bimanual_moveit_config/package.xml +++ b/openarm_bimanual_moveit_config/package.xml @@ -17,7 +17,7 @@ --> openarm_bimanual_moveit_config - 0.3.0 + 1.0.0 An automatically generated package with all the configuration and launch files for using the openarm_bimanual with the MoveIt Motion Planning Framework diff --git a/openarm_bringup/CMakeLists.txt b/openarm_bringup/CMakeLists.txt index 22ca5a1..72ac5c0 100644 --- a/openarm_bringup/CMakeLists.txt +++ b/openarm_bringup/CMakeLists.txt @@ -1,4 +1,4 @@ -# Copyright 2025 Reazon Holdings, Inc. +# Copyright 2025 Enactic, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. diff --git a/openarm_bringup/README.md b/openarm_bringup/README.md index 720ca89..391f8f7 100644 --- a/openarm_bringup/README.md +++ b/openarm_bringup/README.md @@ -1,9 +1,32 @@ -## utils +# OpenArm Bringup -init_can.sh \ \ +This package provides launch files to bring up the OpenArm robot system. -e.g. -```sh -./init_can.sh/dev/ACM0 can0 -./init_can.sh/dev/ACM1 can1 +## Quick Start + +Launch the OpenArm with v1.0 configuration and fake hardware: + +```bash +ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=true ``` + +## Launch Files + +- `openarm.launch.py` - Single arm configuration +- `openarm.bimanual.launch.py` - Dual arm configuration + +## Key Parameters + +- `arm_type` - Arm type (default: v10) +- `use_fake_hardware` - Use fake hardware instead of real hardware (default: false) +- `can_interface` - CAN interface to use (default: can0) +- `robot_controller` - Controller type: `joint_trajectory_controller` or `forward_position_controller` + +## What Gets Launched + +- Robot state publisher +- Controller manager with ros2_control +- Joint state broadcaster +- Robot controller (joint trajectory or forward position) +- Gripper controller +- RViz2 visualization diff --git a/openarm_bringup/config/test_goal_publishers_config.yaml b/openarm_bringup/config/test_goal_publishers_config.yaml deleted file mode 100644 index f750f34..0000000 --- a/openarm_bringup/config/test_goal_publishers_config.yaml +++ /dev/null @@ -1,58 +0,0 @@ -# Copyright (c) 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - -publisher_forward_position_controller: - ros__parameters: - - controller_name: "forward_position_controller" - wait_sec_between_publish: 5 - - goal_names: ["pos1", "pos2", "pos3", "pos4"] - pos1: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185] - pos2: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - pos3: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185] - pos4: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - - -publisher_joint_trajectory_controller: - ros__parameters: - - controller_name: "joint_trajectory_controller" - wait_sec_between_publish: 6 - repeat_the_same_goal: 1 # useful to simulate continuous inputs - - goal_time_from_start: 3.0 - goal_names: ["pos1", "pos2", "pos3", "pos4"] - pos1: - positions: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185] - pos2: - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - pos3: - positions: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185] - pos4: - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - - joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 diff --git a/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml new file mode 100644 index 0000000..8a386ee --- /dev/null +++ b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml @@ -0,0 +1,175 @@ +# Copyright 2025 Enactic, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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. + +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + left_forward_position_controller: + type: forward_command_controller/ForwardCommandController + + left_forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + left_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + left_gripper_controller: + type: position_controllers/GripperActionController + + right_forward_position_controller: + type: forward_command_controller/ForwardCommandController + + right_forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + right_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + right_gripper_controller: + type: position_controllers/GripperActionController + + +left_forward_position_controller: + ros__parameters: + joints: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + +left_forward_velocity_controller: + ros__parameters: + joints: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity + +left_joint_trajectory_controller: + ros__parameters: + joints: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + + state_publish_rate: 50.0 # Defaults to 50 + action_monitor_rate: 50.0 # Defaults to 20 + + allow_partial_joints_goal: false # Defaults to false + constraints: + stopped_velocity_tolerance: 0.01 # Defaults to 0.01 + goal_time: 0.0 # Defaults to 0.0 (start immediately) + +left_gripper_controller: + ros__parameters: + joint: openarm_left_finger_joint1 + command_interfaces: + - position + state_interfaces: + - position + + +right_forward_position_controller: + ros__parameters: + joints: + - openarm_right_joint1 + - openarm_right_joint2 + - openarm_right_joint3 + - openarm_right_joint4 + - openarm_right_joint5 + - openarm_right_joint6 + - openarm_right_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + +right_forward_velocity_controller: + ros__parameters: + joints: + - openarm_right_joint1 + - openarm_right_joint2 + - openarm_right_joint3 + - openarm_right_joint4 + - openarm_right_joint5 + - openarm_right_joint6 + - openarm_right_joint7 + interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity + +right_joint_trajectory_controller: + ros__parameters: + joints: + - openarm_right_joint1 + - openarm_right_joint2 + - openarm_right_joint3 + - openarm_right_joint4 + - openarm_right_joint5 + - openarm_right_joint6 + - openarm_right_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + + state_publish_rate: 50.0 # Defaults to 50 + action_monitor_rate: 50.0 # Defaults to 20 + + allow_partial_joints_goal: false # Defaults to false + constraints: + stopped_velocity_tolerance: 0.01 # Defaults to 0.01 + goal_time: 0.0 # Defaults to 0.0 (start immediately) + +right_gripper_controller: + ros__parameters: + joint: openarm_right_finger_joint1 + command_interfaces: + - position + state_interfaces: + - position \ No newline at end of file diff --git a/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers_namespaced.yaml b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers_namespaced.yaml new file mode 100644 index 0000000..6892eba --- /dev/null +++ b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers_namespaced.yaml @@ -0,0 +1,124 @@ +/**: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + left_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + right_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + left_forward_position_controller: + type: forward_command_controller/ForwardCommandController + + right_forward_position_controller: + type: forward_command_controller/ForwardCommandController + + left_gripper_controller: + type: forward_command_controller/ForwardCommandController + + right_gripper_controller: + type: forward_command_controller/ForwardCommandController + +/**/left_joint_trajectory_controller: + ros__parameters: + joints: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + open_loop_control: false + allow_integration_in_goal_trajectories: true + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.6 + openarm_left_joint1: {trajectory: 0.1, goal: 0.1} + openarm_left_joint2: {trajectory: 0.1, goal: 0.1} + openarm_left_joint3: {trajectory: 0.1, goal: 0.1} + openarm_left_joint4: {trajectory: 0.1, goal: 0.1} + openarm_left_joint5: {trajectory: 0.1, goal: 0.1} + openarm_left_joint6: {trajectory: 0.1, goal: 0.1} + openarm_left_joint7: {trajectory: 0.1, goal: 0.1} + +/**/right_joint_trajectory_controller: + ros__parameters: + joints: + - openarm_right_joint1 + - openarm_right_joint2 + - openarm_right_joint3 + - openarm_right_joint4 + - openarm_right_joint5 + - openarm_right_joint6 + - openarm_right_joint7 + interface_name: position + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + open_loop_control: false + allow_integration_in_goal_trajectories: true + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.6 + openarm_right_joint1: {trajectory: 0.1, goal: 0.1} + openarm_right_joint2: {trajectory: 0.1, goal: 0.1} + openarm_right_joint3: {trajectory: 0.1, goal: 0.1} + openarm_right_joint4: {trajectory: 0.1, goal: 0.1} + openarm_right_joint5: {trajectory: 0.1, goal: 0.1} + openarm_right_joint6: {trajectory: 0.1, goal: 0.1} + openarm_right_joint7: {trajectory: 0.1, goal: 0.1} + +/**/left_forward_position_controller: + ros__parameters: + joints: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + interface_name: position + +/**/right_forward_position_controller: + ros__parameters: + joints: + - openarm_right_joint1 + - openarm_right_joint2 + - openarm_right_joint3 + - openarm_right_joint4 + - openarm_right_joint5 + - openarm_right_joint6 + - openarm_right_joint7 + interface_name: position + +/**/left_gripper_controller: + ros__parameters: + joints: + - openarm_left_finger_joint1 + interface_name: position + +/**/right_gripper_controller: + ros__parameters: + joints: + - openarm_right_finger_joint1 + interface_name: position diff --git a/openarm_bringup/config/openarm_controllers.yaml b/openarm_bringup/config/v10_controllers/openarm_v10_controllers.yaml similarity index 54% rename from openarm_bringup/config/openarm_controllers.yaml rename to openarm_bringup/config/v10_controllers/openarm_v10_controllers.yaml index 5f172e0..f2f3a03 100644 --- a/openarm_bringup/config/openarm_controllers.yaml +++ b/openarm_bringup/config/v10_controllers/openarm_v10_controllers.yaml @@ -1,4 +1,5 @@ -# Copyright (c) 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright 2025 Enactic, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -12,13 +13,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - controller_manager: ros__parameters: update_rate: 100 # Hz @@ -26,49 +20,61 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - forward_position_controller: + forward_position_controller: type: forward_command_controller/ForwardCommandController - forward_velocity_controller: + forward_velocity_controller: type: forward_command_controller/ForwardCommandController - joint_trajectory_controller: + joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController -forward_position_controller: + gripper_controller: + type: position_controllers/GripperActionController + +forward_position_controller: ros__parameters: joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 + - openarm_joint1 + - openarm_joint2 + - openarm_joint3 + - openarm_joint4 + - openarm_joint5 + - openarm_joint6 + - openarm_joint7 interface_name: position + command_interfaces: + - position + state_interfaces: + - position -forward_velocity_controller: + +forward_velocity_controller: ros__parameters: joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 + - openarm_joint1 + - openarm_joint2 + - openarm_joint3 + - openarm_joint4 + - openarm_joint5 + - openarm_joint6 + - openarm_joint7 interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity -joint_trajectory_controller: +joint_trajectory_controller: ros__parameters: joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 + - openarm_joint1 + - openarm_joint2 + - openarm_joint3 + - openarm_joint4 + - openarm_joint5 + - openarm_joint6 + - openarm_joint7 command_interfaces: - position @@ -82,3 +88,12 @@ joint_trajectory_controller: constraints: stopped_velocity_tolerance: 0.01 # Defaults to 0.01 goal_time: 0.0 # Defaults to 0.0 (start immediately) + + +gripper_controller: + ros__parameters: + joint: openarm_finger_joint1 + command_interfaces: + - position + state_interfaces: + - position \ No newline at end of file diff --git a/openarm_bringup/launch/openarm.bimanual.launch.py b/openarm_bringup/launch/openarm.bimanual.launch.py new file mode 100644 index 0000000..99250a5 --- /dev/null +++ b/openarm_bringup/launch/openarm.bimanual.launch.py @@ -0,0 +1,285 @@ +# Copyright 2025 Enactic, Inc. +# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# 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. + +import os +import xacro + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription, LaunchContext +from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction, OpaqueFunction +from launch.event_handlers import OnProcessExit +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def namespace_from_context(context, arm_prefix): + arm_prefix_str = context.perform_substitution(arm_prefix) + if arm_prefix_str: + return arm_prefix_str.strip('/') + return None + + +def generate_robot_description(context: LaunchContext, description_package, description_file, + arm_type, use_fake_hardware, right_can_interface, left_can_interface): + """Generate robot description using xacro processing.""" + + description_package_str = context.perform_substitution(description_package) + description_file_str = context.perform_substitution(description_file) + arm_type_str = context.perform_substitution(arm_type) + use_fake_hardware_str = context.perform_substitution(use_fake_hardware) + right_can_interface_str = context.perform_substitution(right_can_interface) + left_can_interface_str = context.perform_substitution(left_can_interface) + + xacro_path = os.path.join( + get_package_share_directory(description_package_str), + "urdf", "robot", description_file_str + ) + + # Process xacro with required arguments + robot_description = xacro.process_file( + xacro_path, + mappings={ + "arm_type": arm_type_str, + "bimanual": "true", + "use_fake_hardware": use_fake_hardware_str, + "ros2_control": "true", + "right_can_interface": right_can_interface_str, + "left_can_interface": left_can_interface_str, + } + ).toprettyxml(indent=" ") + + return robot_description + + +def robot_nodes_spawner(context: LaunchContext, description_package, description_file, + arm_type, use_fake_hardware, controllers_file, right_can_interface, left_can_interface, arm_prefix): + """Spawn both robot state publisher and control nodes with shared robot description.""" + namespace = namespace_from_context(context, arm_prefix) + + robot_description = generate_robot_description( + context, description_package, description_file, arm_type, use_fake_hardware, right_can_interface, left_can_interface, + ) + + controllers_file_str = context.perform_substitution(controllers_file) + robot_description_param = {"robot_description": robot_description} + + if namespace: + controllers_file_str = controllers_file_str.replace( + "openarm_v10_bimanual_controllers.yaml", "openarm_v10_bimanual_controllers_namespaced.yaml" + ) + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + namespace=namespace, + parameters=[robot_description_param], + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + namespace=namespace, + parameters=[robot_description_param, controllers_file_str], + ) + + return [robot_state_pub_node, control_node] + + +def controller_spawner(context: LaunchContext, robot_controller, arm_prefix): + """Spawn controller based on robot_controller argument.""" + namespace = namespace_from_context(context, arm_prefix) + + controller_manager_ref = f"/{namespace}/controller_manager" if namespace else "/controller_manager" + + robot_controller_str = context.perform_substitution(robot_controller) + + if robot_controller_str == "forward_position_controller": + robot_controller_left = "left_forward_position_controller" + robot_controller_right = "right_forward_position_controller" + elif robot_controller_str == "joint_trajectory_controller": + robot_controller_left = "left_joint_trajectory_controller" + robot_controller_right = "right_joint_trajectory_controller" + else: + raise ValueError(f"Unknown robot_controller: {robot_controller_str}") + + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + namespace=namespace, + arguments=[robot_controller_left, + robot_controller_right, "-c", controller_manager_ref], + ) + + return [robot_controller_spawner] + + +def generate_launch_description(): + """Generate launch description for OpenArm bimanual configuration.""" + + # Declare launch arguments + declared_arguments = [ + DeclareLaunchArgument( + "description_package", + default_value="openarm_description", + description="Description package with robot URDF/xacro files.", + ), + DeclareLaunchArgument( + "description_file", + default_value="v10.urdf.xacro", + description="URDF/XACRO description file with the robot.", + ), + DeclareLaunchArgument( + "arm_type", + default_value="v10", + description="Type of arm (e.g., v10).", + ), + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Use fake hardware instead of real hardware.", + ), + DeclareLaunchArgument( + "robot_controller", + default_value="joint_trajectory_controller", + choices=["forward_position_controller", + "joint_trajectory_controller"], + description="Robot controller to start.", + ), + DeclareLaunchArgument( + "runtime_config_package", + default_value="openarm_bringup", + description="Package with the controller's configuration in config folder.", + ), + DeclareLaunchArgument( + "arm_prefix", + default_value="", + description="Prefix for the arm for topic namespacing.", + ), + DeclareLaunchArgument( + "right_can_interface", + default_value="can0", + description="CAN interface to use for the right arm.", + ), + DeclareLaunchArgument( + "left_can_interface", + default_value="can1", + description="CAN interface to use for the left arm.", + ), + DeclareLaunchArgument( + "controllers_file", + default_value="openarm_v10_bimanual_controllers.yaml", + description="Controllers file(s) to use. Can be a single file or comma-separated list of files.", + ), + ] + + # Initialize launch configurations + description_package = LaunchConfiguration("description_package") + description_file = LaunchConfiguration("description_file") + arm_type = LaunchConfiguration("arm_type") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + robot_controller = LaunchConfiguration("robot_controller") + runtime_config_package = LaunchConfiguration("runtime_config_package") + controllers_file = LaunchConfiguration("controllers_file") + rightcan_interface = LaunchConfiguration("right_can_interface") + left_can_interface = LaunchConfiguration("left_can_interface") + arm_prefix = LaunchConfiguration("arm_prefix") + + controllers_file = PathJoinSubstitution( + [FindPackageShare(runtime_config_package), "config", + "v10_controllers", controllers_file] + ) + + robot_nodes_spawner_func = OpaqueFunction( + function=robot_nodes_spawner, + args=[description_package, description_file, arm_type, + use_fake_hardware, controllers_file, rightcan_interface, left_can_interface, arm_prefix] + ) + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), "rviz", + "bimanual.rviz"] + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + # Joint state broadcaster spawner + joint_state_broadcaster_spawner = OpaqueFunction( + function=lambda context: [Node( + package="controller_manager", + executable="spawner", + namespace=namespace_from_context(context, arm_prefix), + arguments=["joint_state_broadcaster", + "--controller-manager", + f"/{namespace_from_context(context, arm_prefix)}/controller_manager" if namespace_from_context(context, arm_prefix) else "/controller_manager"], + )] + ) + + # Controller spawners + controller_spawner_func = OpaqueFunction( + function=controller_spawner, + args=[robot_controller, arm_prefix] + ) + + gripper_controller_spawner = OpaqueFunction( + function=lambda context: [Node( + package="controller_manager", + executable="spawner", + namespace=namespace_from_context(context, arm_prefix), + arguments=["left_gripper_controller", + "right_gripper_controller", "-c", + f"/{namespace_from_context(context, arm_prefix)}/controller_manager" if namespace_from_context(context, arm_prefix) else "/controller_manager"], + )] + ) + + # Timing and sequencing + LAUNCH_DELAY_SECONDS = 1.0 + delayed_joint_state_broadcaster = TimerAction( + period=LAUNCH_DELAY_SECONDS, + actions=[joint_state_broadcaster_spawner], + ) + + delayed_robot_controller = TimerAction( + period=LAUNCH_DELAY_SECONDS, + actions=[controller_spawner_func], + ) + delayed_gripper_controller = TimerAction( + period=LAUNCH_DELAY_SECONDS, + actions=[gripper_controller_spawner], + ) + + return LaunchDescription( + declared_arguments + [ + robot_nodes_spawner_func, + rviz_node, + ] + + [ + delayed_joint_state_broadcaster, + delayed_robot_controller, + delayed_gripper_controller, + ] + ) diff --git a/openarm_bringup/launch/openarm.launch.py b/openarm_bringup/launch/openarm.launch.py index 3a20d09..1c7a8b4 100644 --- a/openarm_bringup/launch/openarm.launch.py +++ b/openarm_bringup/launch/openarm.launch.py @@ -1,4 +1,4 @@ -# Copyright 2025 Reazon Holdings, Inc. +# Copyright 2025 Enactic, Inc. # Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -13,19 +13,15 @@ # See the License for the specific language governing permissions and # limitations under the License. -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# +import os +import xacro -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction -from launch.event_handlers import OnProcessExit, OnProcessStart +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription, LaunchContext +from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction, OpaqueFunction +from launch.event_handlers import OnProcessExit from launch.substitutions import ( - Command, - FindExecutable, LaunchConfiguration, PathJoinSubstitution, ) @@ -33,126 +29,155 @@ from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare +def generate_robot_description(context: LaunchContext, description_package, description_file, + arm_type, use_fake_hardware, can_interface, arm_prefix): + """Generate robot description using xacro processing.""" + + # Substitute launch configuration values + description_package_str = context.perform_substitution(description_package) + description_file_str = context.perform_substitution(description_file) + arm_type_str = context.perform_substitution(arm_type) + use_fake_hardware_str = context.perform_substitution(use_fake_hardware) + can_interface_str = context.perform_substitution(can_interface) + arm_prefix_str = context.perform_substitution(arm_prefix) + + # Build xacro file path + xacro_path = os.path.join( + get_package_share_directory(description_package_str), + "urdf", "robot", description_file_str + ) + + # Process xacro with required arguments + robot_description = xacro.process_file( + xacro_path, + mappings={ + "arm_type": arm_type_str, + "bimanual": "false", + "use_fake_hardware": use_fake_hardware_str, + "ros2_control": "true", + "can_interface": can_interface_str, + "arm_prefix": arm_prefix_str, + } + ).toprettyxml(indent=" ") + + return robot_description + + +def robot_nodes_spawner(context: LaunchContext, description_package, description_file, + arm_type, use_fake_hardware, controllers_file, can_interface, arm_prefix): + """Spawn both robot state publisher and control nodes with shared robot description.""" + + # Generate robot description once + robot_description = generate_robot_description( + context, description_package, description_file, arm_type, use_fake_hardware, can_interface, arm_prefix + ) + + # Get controllers file path + controllers_file_str = context.perform_substitution(controllers_file) + robot_description_param = {"robot_description": robot_description} + + # Robot state publisher node + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[robot_description_param], + ) + + # Control node + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + parameters=[robot_description_param, controllers_file_str], + ) + + return [robot_state_pub_node, control_node] + + def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="openarm_bringup", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="openarm_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( + """Generate launch description for OpenArm unimanual configuration.""" + + # Declare launch arguments + declared_arguments = [ DeclareLaunchArgument( "description_package", default_value="openarm_description", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( + description="Description package with robot URDF/xacro files.", + ), DeclareLaunchArgument( "description_file", - default_value="openarm.urdf.xacro", + default_value="v10.urdf.xacro", description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( + ), DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( + "arm_type", + default_value="v10", + description="Type of arm (e.g., v10).", + ), DeclareLaunchArgument( - "hardware_type", - default_value="real", - description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", + "use_fake_hardware", default_value="false", - description="Enable mock command interfaces for sensors used for simple simulations. \ - Used only if 'hardware_type' parameter is 'mock'.", - ) - ) - declared_arguments.append( + description="Use fake hardware instead of real hardware.", + ), DeclareLaunchArgument( "robot_controller", default_value="joint_trajectory_controller", choices=["forward_position_controller", "joint_trajectory_controller"], description="Robot controller to start.", - ) - ) + ), + DeclareLaunchArgument( + "runtime_config_package", + default_value="openarm_bringup", + description="Package with the controller's configuration in config folder.", + ), + DeclareLaunchArgument( + "arm_prefix", + default_value="", + description="Prefix for the arm.", + ), + DeclareLaunchArgument( + "can_interface", + default_value="can0", + description="CAN interface to use.", + ), + DeclareLaunchArgument( + "controllers_file", + default_value="openarm_v10_controllers.yaml", + description="Controllers file(s) to use. Can be a single file or comma-separated list of files.", + ), + ] - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") + # Initialize launch configurations description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - hardware_type = LaunchConfiguration("hardware_type") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + arm_type = LaunchConfiguration("arm_type") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") robot_controller = LaunchConfiguration("robot_controller") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), - "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "hardware_type:=", - hardware_type, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - ] + runtime_config_package = LaunchConfiguration("runtime_config_package") + controllers_file = LaunchConfiguration("controllers_file") + can_interface = LaunchConfiguration("can_interface") + arm_prefix = LaunchConfiguration("arm_prefix") + # Configuration file paths + controllers_file = PathJoinSubstitution( + [FindPackageShare(runtime_config_package), "config", + "v10_controllers", controllers_file] ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", controllers_file] + # Robot nodes spawner (both state publisher and control) + robot_nodes_spawner_func = OpaqueFunction( + function=robot_nodes_spawner, + args=[description_package, description_file, arm_type, + use_fake_hardware, controllers_file, can_interface, arm_prefix] ) + # RViz configuration rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "openarm.rviz"] + [FindPackageShare(description_package), "rviz", + "robot_description.rviz"] ) - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - output="both", - parameters=[robot_description, robot_controllers], - ) - robot_state_pub_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) rviz_node = Node( package="rviz2", executable="rviz2", @@ -161,94 +186,50 @@ def generate_launch_description(): arguments=["-d", rviz_config_file], ) + # Joint state broadcaster spawner joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], ) - robot_controller_names = [robot_controller] - robot_controller_spawners = [] - for controller in robot_controller_names: - robot_controller_spawners += [ - Node( - package="controller_manager", - executable="spawner", - arguments=[controller, "-c", "/controller_manager"], - ) - ] - - inactive_robot_controller_names = [] - inactive_robot_controller_spawners = [] - for controller in inactive_robot_controller_names: - inactive_robot_controller_spawners += [ - Node( - package="controller_manager", - executable="spawner", - arguments=[controller, "-c", - "/controller_manager", "--inactive"], - ) - ] - - # Delay loading and activation of `joint_state_broadcaster` after start of ros2_control_node - delay_joint_state_broadcaster_spawner_after_ros2_control_node = ( - RegisterEventHandler( - event_handler=OnProcessStart( - target_action=control_node, - on_start=[ - TimerAction( - period=3.0, - actions=[joint_state_broadcaster_spawner], - ), - ], - ) - ) + # Controller spawners + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[robot_controller, "-c", "/controller_manager"], ) - # Delay loading and activation of robot_controller_names after `joint_state_broadcaster` - delay_robot_controller_spawners_after_joint_state_broadcaster_spawner = [] - for i, controller in enumerate(robot_controller_spawners): - delay_robot_controller_spawners_after_joint_state_broadcaster_spawner += [ - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=( - robot_controller_spawners[i - 1] - if i > 0 - else joint_state_broadcaster_spawner - ), - on_exit=[controller], - ) - ) - ] + gripper_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["gripper_controller", "-c", "/controller_manager"], + ) - # Delay start of inactive_robot_controller_names after other controllers - delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner = [] - for i, controller in enumerate(inactive_robot_controller_spawners): - delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner += [ - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=( - inactive_robot_controller_spawners[i - 1] - if i > 0 - else robot_controller_spawners[-1] - ), - on_exit=[controller], - ) - ) - ] + # Timing and sequencing + delayed_joint_state_broadcaster = TimerAction( + period=1.0, + actions=[joint_state_broadcaster_spawner], + ) + + delayed_robot_controller = TimerAction( + period=1.0, + actions=[robot_controller_spawner], + ) + delayed_gripper_controller = TimerAction( + period=1.0, + actions=[gripper_controller_spawner], + ) return LaunchDescription( - declared_arguments - + [ - control_node, - robot_state_pub_node, + declared_arguments + [ + robot_nodes_spawner_func, rviz_node, - delay_joint_state_broadcaster_spawner_after_ros2_control_node, + ] + + [ + delayed_joint_state_broadcaster, + delayed_robot_controller, + delayed_gripper_controller, ] - + delay_robot_controller_spawners_after_joint_state_broadcaster_spawner - + delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner ) diff --git a/openarm_bringup/launch/test_forward_position_controller.launch.py b/openarm_bringup/launch/test_forward_position_controller.launch.py deleted file mode 100644 index da1f888..0000000 --- a/openarm_bringup/launch/test_forward_position_controller.launch.py +++ /dev/null @@ -1,51 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - position_goals = PathJoinSubstitution( - [ - FindPackageShare("openarm_bringup"), - "config", - "test_goal_publishers_config.yaml", - ] - ) - - return LaunchDescription( - [ - Node( - package="ros2_controllers_test_nodes", - executable="publisher_forward_position_controller", - name="publisher_forward_position_controller", - parameters=[position_goals], - output={ - "stdout": "screen", - "stderr": "screen", - }, - ) - ] - ) diff --git a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py b/openarm_bringup/launch/test_joint_trajectory_controller.launch.py deleted file mode 100644 index 3e68ef2..0000000 --- a/openarm_bringup/launch/test_joint_trajectory_controller.launch.py +++ /dev/null @@ -1,51 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - position_goals = PathJoinSubstitution( - [ - FindPackageShare("openarm_bringup"), - "config", - "test_goal_publishers_config.yaml", - ] - ) - - return LaunchDescription( - [ - Node( - package="ros2_controllers_test_nodes", - executable="publisher_joint_trajectory_controller", - name="publisher_joint_trajectory_controller", - parameters=[position_goals], - output={ - "stdout": "screen", - "stderr": "screen", - }, - ) - ] - ) diff --git a/openarm_bringup/package.xml b/openarm_bringup/package.xml index 7996765..e047aa3 100644 --- a/openarm_bringup/package.xml +++ b/openarm_bringup/package.xml @@ -1,7 +1,7 @@ openarm_bringup - 0.3.0 + 1.0.0 Bringup script for OpenArm Thomason Zhou Apache-2.0 diff --git a/openarm_bringup/rviz/bimanual.rviz b/openarm_bringup/rviz/bimanual.rviz new file mode 100644 index 0000000..e6ad21c --- /dev/null +++ b/openarm_bringup/rviz/bimanual.rviz @@ -0,0 +1,295 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 685 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + openarm_body_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.1203250885009766 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.410398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.07539838552474976 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1162 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001da0000039bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000690000039b0000017800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000014d0000039bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000690000039b0000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000081400000051fc0100000002fb0000000800540069006d00650100000000000008140000046000fffffffb0000000800540069006d00650100000000000004500000000000000000000004d50000039b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2068 + X: 60 + Y: 64 diff --git a/openarm_bringup/utils/init_can.sh b/openarm_bringup/utils/init_can.sh deleted file mode 100755 index fc22b74..0000000 --- a/openarm_bringup/utils/init_can.sh +++ /dev/null @@ -1,30 +0,0 @@ -#!/bin/bash -# -# 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 script initializes the CAN interface on a Linux system. - -echo Using CAN interface: $1 with $2 - -if [ ! -e $1 ]; then - echo "Device $1 does not exist." - exit 1 -fi - -bitrate=1000000 -sudo slcand -o -c -s8 $1 -sudo ip link set $2 type can bitrate $bitrate -sudo ip link set $2 up -sudo ip link show $2 diff --git a/openarm_hardware/package.xml b/openarm_hardware/package.xml index 7faa56e..0d0f360 100644 --- a/openarm_hardware/package.xml +++ b/openarm_hardware/package.xml @@ -17,7 +17,7 @@ --> openarm_hardware - 0.3.0 + 1.0.0 Hardware interface for OpenArm Thomason Zhou Apache-2.0