We observed that executing actions with large position differences can
result in dangerously high velocities, depending on the controller.
So, the default values should be lower.
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
## Summary
This PR updates the C++ hardware interface to support **CANFD** and confirms successful operation with **MoveIt** on the actual robot hardware.
---
## Changes Made
- Migrated from classic CAN to **CANFD** in the motor control interface.
- Updated the following modules:
- `openarm_hardware/include/openarm_hardware/canbus.hpp`
- `openarm_hardware/src/canbus.cpp`
- `openarm_hardware/src/motor_control.cpp`
- `openarm_hardware/include/openarm_hardware/motor_control.hpp`
- `openarm_hardware/src/openarm_hardware.cpp`
- Improved CAN socket handling and data frame structure.
- Refactored internal motor communication logic for robustness.
---
## Verification
- Confirmed joint control and motion execution with real hardware using **MoveIt**.
- Controllers were properly loaded and executed planned trajectories without error.
- CANFD communication is now functional and stable during runtime.
* Create mujoco_ros2_control package
* Enable Mujoco hardware interface for OpenArm
* Verify connection with ros2_control
* Update actuators to pos/vel
* Add motor after creation
* Tune KD for smoother motion
* Restore realsense camera
* Change camera to be 10 tilt from vertical to match physical model
* Repair urdf to match physical robot
* Checkpoint moveit2_configuration
* Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock
* Enable octomap perception
* Fix base_link to world transform
* Update openarm to support moveit2 bimanual planning with end effectors
* Improve safety of openarm_hardware zero position autocalibration
* Remove openarm_mujoco_ros2_control from moveit2 branch
* Restore sensor functionality
