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
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|---|---|---|
| .. | ||
| config | ||
| launch | ||
| .setup_assistant | ||
| CMakeLists.txt | ||
| LICENSE | ||
| package.xml | ||
| README.md | ||
MoveIt2 on Bimanual Openarms
Ensure the ROS2 packages and dependencies are installed by following the instructions in openarm_ros2/README.md.
Physical Hardware
-
Run
init_can.shfromopenarm_bringup/utils. By default, can0 is the right arm and can1 is the left arm, but this can be adjusted in the ros2_control definition inopenarm_description/urdf/openarm.ros2_control.xacro. -
Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles.
ros2 launch openarm_bimanual_bringup depth_camera.launch.py
Launch the demo
ros2 launch openarm_bimanual_moveit_config demo.launch.py