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Add moveit2 package with dual arm/gripper (#5) 
* 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
2025-04-22 18:46:27 +09:00
openarm_bimanual_description Add moveit2 package with dual arm/gripper (#5) 2025-04-22 18:46:27 +09:00
openarm_bimanual_moveit_config Add moveit2 package with dual arm/gripper (#5) 2025-04-22 18:46:27 +09:00
openarm_bimanual_teleop Add moveit2 package with dual arm/gripper (#5) 2025-04-22 18:46:27 +09:00
openarm_bringup Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) 2025-04-10 18:31:15 +09:00
openarm_description Add moveit2 package with dual arm/gripper (#5) 2025-04-22 18:46:27 +09:00
openarm_hardware Add moveit2 package with dual arm/gripper (#5) 2025-04-22 18:46:27 +09:00
openarm_moveit_config Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) 2025-04-10 18:31:15 +09:00
.gitignore Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) 2025-04-10 18:31:15 +09:00
LICENSE Add openarm_grip_description and openarm_moveit_config 2025-02-07 18:28:53 +09:00
README.md Update README.md with installation instructions 2025-03-28 19:09:46 +09:00

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

Installation

  1. Install ROS2 (Humble with Ubuntu 22.04 is recommended)
  2. Create a ROS2 workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git
  1. Install dependencies with rosdep and build the packages with colcon
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
colcon build
  1. In a new terminal, source the workspace setup script
cd ~/ros2_ws
. install/setup.bash

License

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