openarm/openarm_ros2
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thomason 2025-07-10 22:25:13 -07:00 committed by GitHub
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4
.docker/Dockerfile
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@ -1,11 +1,11 @@
FROM ghcr.io/reazon-research/ros2:humble FROM osrf/ros:humble-desktop-full
COPY ros_entrypoint.sh /ros_entrypoint.sh COPY ros_entrypoint.sh /ros_entrypoint.sh
RUN . /opt/ros/humble/setup.sh && \ RUN . /opt/ros/humble/setup.sh && \
apt update && \ apt update && \
apt install nlohmann-json3-dev -y && \ apt install nlohmann-json3-dev -y && \
mkdir --parents ~/ros2_ws/src && \ mkdir --parents ~/ros2_ws/src && \
git clone --branch main https://github.com/reazon-research/openarm_ros2.git ~/ros2_ws/src/openarm_ros2 && \ git clone --branch main https://github.com/enactic/openarm_ros2.git ~/ros2_ws/src/openarm_ros2 && \
cd ~/ros2_ws && \ cd ~/ros2_ws && \
rosdep install --from-paths src --ignore-src -r -y && \ rosdep install --from-paths src --ignore-src -r -y && \
colcon build --symlink-install && \ colcon build --symlink-install && \

4
.docker/README.md
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@ -9,7 +9,7 @@ host +local:root
docker run --env DISPLAY=$DISPLAY \ docker run --env DISPLAY=$DISPLAY \
--volume /tmp/.X11-unix:/tmp/.X11-unix \ --volume /tmp/.X11-unix:/tmp/.X11-unix \
--network=host \ --network=host \
-it ghcr.io/reazon-research/openarm:v0.3 \ -it thchzh/ros2:openarm-humble \
/bin/bash /bin/bash
``` ```
@ -23,5 +23,5 @@ ros2 launch -d openarm_bimanual_moveit_config demo.launch.py hardware_type:=sim
# To build the latest image (v0.3) # To build the latest image (v0.3)
```sh ```sh
docker build --no-cache -t ghcr.io/reazon-research/openarm:v0.3 . docker build --no-cache -t thchzh/ros2:openarm-humble .
``` ```

6
README.md
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@ -4,8 +4,8 @@
<a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status"> <a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status">
<img src="https://build.ros2.org/buildStatus/icon?job=Hdev__openarm__ubuntu_jammy_amd64"/> <img src="https://build.ros2.org/buildStatus/icon?job=Hdev__openarm__ubuntu_jammy_amd64"/>
</a> </a>
<a href="https://github.com/reazon-research/openarm_ros2/tree/main/LICENSE" alt="Apache License 2.0"> <a href="https://github.com/enactic/openarm_ros2/tree/main/LICENSE" alt="Apache License 2.0">
<img src="https://img.shields.io/github/license/reazon-research/openarm_ros2"/> <img src="https://img.shields.io/github/license/enactic/openarm_ros2"/>
</a> </a>
</p> </p>
@ -48,7 +48,7 @@ source /opt/ros/humble/setup.bash # Change "humble" to your ROS 2 distro, ie:
# source /opt/ros/jazzy/setup.bash # source /opt/ros/jazzy/setup.bash
mkdir -p ~/ros2_ws/src mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git git clone https://github.com/enactic/openarm_ros2.git
``` ```
3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) 3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)