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openarm_ros2/openarm_bimanual_moveit_config
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Thomason Zhou e24c9e37e6 Update generated urdfs
2025-04-25 18:04:06 +09:00
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config Correct URDF to true joint limits + Add and update documentation (#6) 2025-04-25 17:57:10 +09:00
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.setup_assistant Correct URDF to true joint limits + Add and update documentation (#6) 2025-04-25 17:57:10 +09:00
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package.xml Update generated urdfs 2025-04-25 18:04:06 +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