openarm/openarm_ros2
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Reconfigured controllers with new URDF for v1.0 (#34)

Browse Source 
This PR is made for new release and do not work with current v0.3 robot
descriptions.
Use for the ros2 control for quick arm control.
Launch files spawn:
- Robot state publisher
- Controller manager with ros2_control
- Joint state broadcaster
- Robot controller (joint trajectory or forward position)
- Gripper controller
- RViz2 visualization

---------

Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
This commit is contained in:
Yue Yin 2025-07-23 14:41:24 +09:00 committed by GitHub
parent 0e136a2b8b
commit 67a60a23ba
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
16 changed files with 1129 additions and 422 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
openarm/package.xml
View File

@ -17,7 +17,7 @@
-->
<package format="3">
<name>openarm</name>
<version>0.3.0</version>
<version>1.0.0</version>
<description>Metapackage for OpenArm</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
<license>Apache-2.0</license>
@ -28,7 +28,6 @@
<exec_depend>openarm_bringup</exec_depend>
<exec_depend>openarm_description</exec_depend>
<exec_depend>openarm_hardware</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

2
openarm_bimanual_moveit_config/package.xml
View File

@ -17,7 +17,7 @@
-->
<package format="3">
<name>openarm_bimanual_moveit_config</name>
<version>0.3.0</version>
<version>1.0.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the openarm_bimanual with the MoveIt Motion Planning Framework
</description>

2
openarm_bringup/CMakeLists.txt
View File

@ -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.

35
openarm_bringup/README.md
View File

@ -1,9 +1,32 @@
## utils
# OpenArm Bringup
init_can.sh \<device\> \<can interface\>
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

58
openarm_bringup/config/test_goal_publishers_config.yaml
View File

@ -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

175
openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml Normal file
View File

@ -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

124
openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers_namespaced.yaml Normal file
View File

@ -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

73
openarm_bringup/config/openarm_controllers.yaml → openarm_bringup/config/v10_controllers/openarm_v10_controllers.yaml
View File

@ -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
@ -35,40 +29,52 @@ controller_manager:
joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
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:
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:
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

285
openarm_bringup/launch/openarm.bimanual.launch.py Normal file
View File

@ -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,
]
)

329
openarm_bringup/launch/openarm.launch.py
View File

@ -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(
# Controller spawners
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=[controller, "-c", "/controller_manager"],
arguments=[robot_controller, "-c", "/controller_manager"],
)
]
inactive_robot_controller_names = []
inactive_robot_controller_spawners = []
for controller in inactive_robot_controller_names:
inactive_robot_controller_spawners += [
Node(
gripper_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=[controller, "-c",
"/controller_manager", "--inactive"],
arguments=["gripper_controller", "-c", "/controller_manager"],
)
]
# 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,
# Timing and sequencing
delayed_joint_state_broadcaster = TimerAction(
period=1.0,
actions=[joint_state_broadcaster_spawner],
),
],
)
)
)
# 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],
delayed_robot_controller = TimerAction(
period=1.0,
actions=[robot_controller_spawner],
)
delayed_gripper_controller = TimerAction(
period=1.0,
actions=[gripper_controller_spawner],
)
]
# 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],
)
)
]
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
)

51
openarm_bringup/launch/test_forward_position_controller.launch.py
View File

@ -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",
},
)
]
)

51
openarm_bringup/launch/test_joint_trajectory_controller.launch.py
View File

@ -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",
},
)
]
)

4
openarm_bringup/package.xml
View File

@ -1,7 +1,7 @@
<?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.
　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.
@ -17,7 +17,7 @@
-->
<package format="3">
<name>openarm_bringup</name>
<version>0.3.0</version>
<version>1.0.0</version>
<description>Bringup script for OpenArm</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
<license>Apache-2.0</license>

295
openarm_bringup/rviz/bimanual.rviz Normal file
View File

@ -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: <Fixed 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: <Fixed 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

30
openarm_bringup/utils/init_can.sh
View File

@ -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

2
openarm_hardware/package.xml
View File

@ -17,7 +17,7 @@
-->
<package format="3">
<name>openarm_hardware</name>
<version>0.3.0</version>
<version>1.0.0</version>
<description>Hardware interface for OpenArm</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
<license>Apache-2.0</license>