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openarm_ros2/openarm_bimanual_moveit_config/README.md
thomason fcd1a10291
Correct URDF to true joint limits + Add and update documentation (#6) 
* 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
2025-04-25 17:57:10 +09:00

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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