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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 |
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| openarm | ||
| openarm_bimanual_bringup | ||
| openarm_bimanual_description | ||
| openarm_bimanual_moveit_config | ||
| openarm_bringup | ||
| openarm_description | ||
| openarm_hardware | ||
| .clang-format | ||
| .gitignore | ||
| .pre-commit-config.yaml | ||
| CODE_OF_CONDUCT.md | ||
| LICENSE | ||
| README.md | ||
ROS2 packages for OpenArm robots
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
Description Packages
Each link has a visual mesh and a collision mesh, as shown in the figures below:
MoveIt2 Support
https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
Installation
- Install ROS2 and ros-dev-tools (tested on Humble with Ubuntu 22.04)
- Create a ROS2 workspace and source the overlay
source /opt/ros/humble/setup.bash # change humble to your ROS2 distro
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git
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
- In a new terminal, source the workspace setup script
cd ~/ros2_ws
source install/setup.bash
- Test the installation by launching a demo. It may be necessary to restart your computer once.
ros2 launch openarm_bimanual_moveit_config demo.launch.py
License
All packages of openarm_ros2 are licensed under the Apache License 2.0.
Code of Conduct
All participation in the ROS2 packages for OpenArm project is governed by our Code of Conduct.