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openarm_ros2/openarm_bimanual_moveit_config
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takuya kodama 2206a7bf95
lint: add autopep8 to pre-commit hook for Python formatting (#21) 
We’ve added the autopep8 hook to our `.pre-commit-config.yaml` to
enforce a consistent Python style.

To verify its behavior without touching every file at once, we’re
applying it in-place to depth_camera.launch.py for now because the large
number of impacted files there are.

The follow-up PR will run autopep8 accross the entire codebase once this
initial change passes CI.

ref: https://github.com/hhatto/autopep8
2025-06-02 17:00:35 +09:00
..
config Relicense to Apache License 2.0 from BSD 3-Clause License (#13) 2025-05-22 16:22:55 +09:00
launch lint: add autopep8 to pre-commit hook for Python formatting (#21) 2025-06-02 17:00:35 +09:00
.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 fix: move xml-model declaration above license header (#14) 2025-05-23 16:56:14 +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