openarm/openarm_ros2
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openarm_ros2/openarm_bringup/README.md
Yue Yin 67a60a23ba
Reconfigured controllers with new URDF for v1.0 (#34) 
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

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Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
2025-07-23 14:41:24 +09:00

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OpenArm Bringup

This package provides launch files to bring up the OpenArm robot system.

Quick Start

Launch the OpenArm with v1.0 configuration and fake hardware:

ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=true

Launch Files

  • openarm.launch.py - Single arm configuration
  • openarm.bimanual.launch.py - Dual arm configuration

Key Parameters

  • arm_type - Arm type (default: v10)
  • use_fake_hardware - Use fake hardware instead of real hardware (default: false)
  • can_interface - CAN interface to use (default: can0)
  • robot_controller - Controller type: joint_trajectory_controller or forward_position_controller

What Gets Launched

  • Robot state publisher
  • Controller manager with ros2_control
  • Joint state broadcaster
  • Robot controller (joint trajectory or forward position)
  • Gripper controller
  • RViz2 visualization