openarm_ros2/openarm_bringup/README.md

OpenArm Bringup

This package provides launch files to bring up the OpenArm robot system.

Quick Start

Launch the OpenArm with v1.0 configuration and fake hardware:

ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 hardware_type:=real

Launch Files

• openarm.launch.py - Single arm configuration
• openarm.bimanual.launch.py - Dual arm configuration

Key Parameters

• arm_type - Arm type (default: v10)
• hardware_type - Use real/mock/mujoco hardware (default: real)
• can_interface - CAN interface to use (default: can0)
• robot_controller - Controller type: joint_trajectory_controller or forward_position_controller

What Gets Launched

• Robot state publisher
• Controller manager with ros2_control
• Joint state broadcaster
• Robot controller (joint trajectory or forward position)
• Gripper controller
• RViz2 visualization