56f98bd226
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
80 lines
2.8 KiB
Markdown
80 lines
2.8 KiB
Markdown
# ROS2 packages for OpenArm robots
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<p>
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<a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status">
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<img src="https://build.ros2.org/buildStatus/icon?job=Hdev__openarm__ubuntu_jammy_amd64"/>
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</a>
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<a href="https://github.com/reazon-research/openarm_ros2/tree/main/LICENSE" alt="Apache License 2.0">
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<img src="https://img.shields.io/github/license/reazon-research/openarm_ros2"/>
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</a>
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</p>
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[Quickstart](#installation)
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https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4
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- openarm_bimanual_description: dual arm urdf with torso and realsense head camera
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- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
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- openarm_bimanual_bringup: setup scripts for bimanual openarm
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- openarm_bringup: setup scripts for single physical openarm
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- openarm_description: single arm urdf
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- openarm_hardware: hardware interface for ros2_control
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- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
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### Description Packages
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Each link has a visual mesh and a collision mesh, as shown in the figures below:
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<img width="412" alt="visual meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/9020efc3-69bc-420d-93a1-305885925638" />
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<img width="383" alt="collision meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/6f62184e-ccea-4859-9364-7c7d1b8def86" />
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### MoveIt2 Support
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https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
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## Installation
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1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04)
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2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
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```sh
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source /opt/ros/humble/setup.bash # change humble to your ROS2 distro
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mkdir -p ~/ros2_ws/src
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cd ~/ros2_ws/src
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git clone https://github.com/reazon-research/openarm_ros2.git
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```
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3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)
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```sh
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cd ~/ros2_ws
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src -y --ignore-src -r
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sudo apt install -y python3-colcon-common-extensions
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colcon build
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```
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4. *In a new terminal*, source the workspace setup script
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```sh
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cd ~/ros2_ws
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source install/setup.bash
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```
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5. Test the installation by launching a demo. It may be necessary to restart your computer once.
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```sh
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ros2 launch openarm_bimanual_moveit_config demo.launch.py
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```
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## License
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All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0).
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