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>
We’ve added the autopep8 hook to our `.pre-commit-config.yaml` to
enforce a consistent Python style.
To verify its behavior without touching every file at once, we’re
applying it in-place to depth_camera.launch.py for now because the large
number of impacted files there are.
The follow-up PR will run autopep8 accross the entire codebase once this
initial change passes CI.
ref: https://github.com/hhatto/autopep8
## Issue
- **openarm_bringup/openarm.launch.py** was launching rviz2 with an
incorrect configuration file.
- The same launch script is intended to execute xacro with a
configurable prefix and support mock hardware. However, these features
were not functioning as the required arguments and plugin initialization
were missing from the xacro files.
## Fix
- Updated the rviz configuration path to the correct file.
- Added the necessary arguments and plugin setup to the relevant xacro
files to enable prefix configuration and mock hardware support.
## Problem
When we launch openarm_bringup, the following error are raised.
```console
$ ros2 launch openarm_bringup openarm.launch.py
[INFO] [launch]: All log files can be found below /home/otegami/.ros/log/2025-05-23-15-07-52-834283-otegami-2239551
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [2239568]
[INFO] [robot_state_publisher-2]: process started with pid [2239569]
[INFO] [rviz2-3]: process started with pid [2239570]
[robot_state_publisher-2] [INFO] [1747984073.330768599] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1747984073.346291338] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [ERROR] [1747984073.346957366] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml.
[ros2_control_node-1] [ERROR] [1747984073.347001329] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly.
[ros2_control_node-1] )
[ros2_control_node-1] [ERROR] [1747984073.347237704] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml.
[ros2_control_node-1] [ERROR] [1747984073.347246277] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly.
[ros2_control_node-1] )
[ros2_control_node-1] [ERROR] [1747984073.347465709] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml.
[ros2_control_node-1] [ERROR] [1747984073.347471103] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly.
```
## Cause
when the license comments appeared before the
xml-model instruction, it happedned.
## Solution
This PR changes places the xml-model declaration
immediately after the XML prolog and ahead of the
license block to resolve the issue.
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
* Rename openarm_bimanual_teleop to openarm_bimanual_bringup
* Update package descriptions
* Add quickstart link
* Add note to source overlay
* Add test installation step
* Add poses and update default rviz config
* Fix rev1 to match hardware
* Align rev3 with hardware joint limits
* Match hardware joint limits
* Complete with more poses
* Update README.md with moveit2 video
* Add new READMEs in openarm_bringup and openarm_bimanual_moveit_config
* Add octomap note
