openarm/openarm_ros2
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openarm_ros2/README.md

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ROS2 packages for OpenArm robots

  • openarm_bimanual_description: urdf with pedestal torso and arm on each side
  • openarm_description: urdf with gripper actuator
  • 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

TODO:

  • Add results from true inertia tests to URDF

MoveIt2 Support

https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef

TODO:

  • ROS 2 control packages (separate branch)

Tested with:

  • Rolling
  • Jazzy
  • Humble

License

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