67a60a23ba
This PR is made for new release and do not work with current v0.3 robot descriptions. Use for the ros2 control for quick arm control. Launch files spawn: - Robot state publisher - Controller manager with ros2_control - Joint state broadcaster - Robot controller (joint trajectory or forward position) - Gripper controller - RViz2 visualization --------- Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
33 lines
908 B
Markdown
33 lines
908 B
Markdown
# OpenArm Bringup
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This package provides launch files to bring up the OpenArm robot system.
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## Quick Start
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Launch the OpenArm with v1.0 configuration and fake hardware:
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```bash
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ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=true
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```
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## Launch Files
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- `openarm.launch.py` - Single arm configuration
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- `openarm.bimanual.launch.py` - Dual arm configuration
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## Key Parameters
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- `arm_type` - Arm type (default: v10)
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- `use_fake_hardware` - Use fake hardware instead of real hardware (default: false)
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- `can_interface` - CAN interface to use (default: can0)
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- `robot_controller` - Controller type: `joint_trajectory_controller` or `forward_position_controller`
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## What Gets Launched
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- Robot state publisher
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- Controller manager with ros2_control
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- Joint state broadcaster
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- Robot controller (joint trajectory or forward position)
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- Gripper controller
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- RViz2 visualization
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