diff --git a/README.md b/README.md index ae3716a..85dde10 100644 --- a/README.md +++ b/README.md @@ -1,106 +1,8 @@ -# ROS2 packages for OpenArm robots +# ROS 2 packages for OpenArm robots -

- - - - - - -

+ROS 2 (Robot Operating System 2) is a modern, open-source framework for building robotic software: https://www.ros.org/ -[Quickstart](#installation) - - -https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4 - - - -- openarm_bimanual_description: dual arm urdf with torso and realsense head camera -- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping -- openarm_bimanual_bringup: setup scripts for bimanual openarm -- openarm_bringup: setup scripts for single physical openarm -- openarm_description: single arm urdf -- openarm_hardware: hardware interface for ros2_control -- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2) - - -### Description Packages - -Each link has a visual mesh and a collision mesh, as shown in the figures below: - -visual meshes of openarm_bimanual_description urdf in rviz2 -collision meshes of openarm_bimanual_description urdf in rviz2 - -### MoveIt2 Support - -https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef - ---- - -## Installation - -1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04) -2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) - -```sh -source /opt/ros/humble/setup.bash # Change "humble" to your ROS 2 distro, ie: - # source /opt/ros/jazzy/setup.bash -mkdir -p ~/ros2_ws/src -cd ~/ros2_ws/src -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) - -```sh -cd ~/ros2_ws -sudo rosdep init -rosdep update -rosdep install --from-paths src -y --ignore-src -r - -sudo apt install -y python3-colcon-common-extensions - -#⚠️ If you're using ROS2 Iron or Jazzy, apply the patch below before building: - -colcon build -``` - -4. *In a new terminal*, source the workspace setup script - -```sh -cd ~/ros2_ws -source install/setup.bash -``` - -5. Test the installation by launching a demo. It may be necessary to restart your computer once. - -```sh -ros2 launch openarm_bimanual_moveit_config demo.launch.py -``` - - -## ROS2 Jazzy patch - -Edit the test source file: -```sh -nano ~/ros2_ws/src/openarm_ros2/openarm_hardware/test/test_openarm_hardware.cpp -``` -Find the line near the bottom: -```sh - ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf)); -``` -Replace it with: -```sh - ASSERT_NO_THROW({ - auto logger = rclcpp::get_logger("test_logger"); - auto clock = std::make_shared(RCL_ROS_TIME); - hardware_interface::ResourceManager rm(urdf, clock, logger, true, 0); - }); -``` -Continue with the build. - ---- +This repository provides ROS 2 integration packages. See the [documentation](https://docs.openarm.dev/software/ros2/install) for details. ## Related links @@ -110,9 +12,10 @@ Continue with the build. ## License -All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0). +[Apache License 2.0](LICENSE) + +Copyright 2025 Enactic, Inc. ## Code of Conduct -All participation in the ROS2 packages for OpenArm project is governed by our -[Code of Conduct](CODE_OF_CONDUCT.md). +All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).