openarm/openarm_ros2
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README.md

ROS2 packages for OpenArm robots

  • openarm_bimanual_description: humanoid upper body with two arms (urdf)
  • openarm_bringup: ros2_control bringup
  • openarm_description: single arm (urdf)
  • openarm_hardware: hardware interface for ros2_control
  • openarm_moveit_config: motion planning with 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

Tested with:

  • Rolling
  • Jazzy
  • Humble

License

All packages of openarm_ros2 are licensed under the BSD-3-Clause.