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openarm_ros2/openarm_bimanual_moveit_config
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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

---------

Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
2025-07-23 14:41:24 +09:00
..
config Add mujoco ros2 control (#26) 2025-07-03 21:43:08 -07:00
launch Add mujoco ros2 control (#26) 2025-07-03 21:43:08 -07:00
.setup_assistant Relicense to Apache License 2.0 from BSD 3-Clause License (#13) 2025-05-22 16:22:55 +09:00
CMakeLists.txt Relicense to Apache License 2.0 from BSD 3-Clause License (#13) 2025-05-22 16:22:55 +09:00
LICENSE Relicense to Apache License 2.0 from BSD 3-Clause License (#13) 2025-05-22 16:22:55 +09:00
package.xml Reconfigured controllers with new URDF for v1.0 (#34) 2025-07-23 14:41:24 +09:00
README.md Correct URDF to true joint limits + Add and update documentation (#6) 2025-04-25 17:57:10 +09:00

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

  1. Run init_can.sh from openarm_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 in openarm_description/urdf/openarm.ros2_control.xacro.

  2. 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