fcd1a10291
* Rename openarm_bimanual_teleop to openarm_bimanual_bringup * Update package descriptions * Add quickstart link * Add note to source overlay * Add test installation step * Add poses and update default rviz config * Fix rev1 to match hardware * Align rev3 with hardware joint limits * Match hardware joint limits * Complete with more poses * Update README.md with moveit2 video * Add new READMEs in openarm_bringup and openarm_bimanual_moveit_config * Add octomap note
20 lines
689 B
Markdown
20 lines
689 B
Markdown
# MoveIt2 on Bimanual Openarms
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Ensure the ROS2 packages and dependencies are installed by following the instructions in `openarm_ros2/README.md`.
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## Physical Hardware
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1. Run `init_can.sh` from `openarm_bringup/utils`.
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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`.
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2. Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles.
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```sh
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ros2 launch openarm_bimanual_bringup depth_camera.launch.py
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```
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## Launch the demo
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```sh
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ros2 launch openarm_bimanual_moveit_config demo.launch.py
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```
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