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
71 lines
2.4 KiB
Markdown
71 lines
2.4 KiB
Markdown
# ROS2 packages for OpenArm robots
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[Quickstart](#installation)
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https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4
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- openarm_bimanual_description: dual arm urdf with torso and realsense head camera
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- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
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- openarm_bimanual_bringup: setup scripts for bimanual openarm
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- openarm_bringup: setup scripts for single physical openarm
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- openarm_description: single arm urdf
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- openarm_hardware: hardware interface for ros2_control
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- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
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### Description Packages
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Each link has a visual mesh and a collision mesh, as shown in the figures below:
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<img width="412" alt="visual meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/9020efc3-69bc-420d-93a1-305885925638" />
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<img width="383" alt="collision meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/6f62184e-ccea-4859-9364-7c7d1b8def86" />
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### MoveIt2 Support
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https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
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## Installation
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1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04)
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2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
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```sh
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source /opt/ros/humble/setup.bash # change humble to your ROS2 distro
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mkdir -p ~/ros2_ws/src
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cd ~/ros2_ws/src
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git clone https://github.com/reazon-research/openarm_ros2.git
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```
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3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)
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```sh
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cd ~/ros2_ws
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src -y --ignore-src -r
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sudo apt install -y python3-colcon-common-extensions
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colcon build
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```
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4. *In a new terminal*, source the workspace setup script
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```sh
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cd ~/ros2_ws
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source install/setup.bash
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```
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5. Test the installation by launching a demo. It may be necessary to restart your computer once.
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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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## License
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All packages of `openarm_ros2` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).
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