33 lines
1.1 KiB
Markdown
33 lines
1.1 KiB
Markdown
# ROS2 packages for OpenArm robots
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- openarm_bimanual_description: urdf with pedestal torso and arm on each side
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- openarm_description: urdf with gripper actuator
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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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### TODO:
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- [ ] Add results from true inertia tests to URDF
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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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### TODO:
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- [ ] ROS 2 control packages (separate branch)
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Tested with:
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- [x] Rolling
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- [x] Jazzy
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- [x] Humble
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## License
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All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).
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