| openarm_bimanual_description | ||
| openarm_bimanual_moveit_config | ||
| openarm_bimanual_teleop | ||
| openarm_bringup | ||
| openarm_description | ||
| openarm_hardware | ||
| openarm_moveit_config | ||
| .gitignore | ||
| LICENSE | ||
| README.md | ||
ROS2 packages for OpenArm robots
- openarm_bimanual_description: humanoid upper body with two arms (urdf)
- openarm_bringup: ros2_control bringup
- openarm_description: single arm (urdf)
- openarm_hardware: hardware interface for ros2_control
- openarm_moveit_config: motion planning with moveit2
Description Packages
Each link has a visual mesh and a collision mesh, as shown in the figures below:
MoveIt2 Support
https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
Installation
- Install ROS2 (Humble with Ubuntu 22.04 is recommended)
- Create a ROS2 workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git
cd ~/ros2_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r
sudo apt install -y python3-colcon-common-extensions
colcon build
- In a new terminal, source the workspace setup script
cd ~/ros2_ws
. install/setup.bash
License
All packages of openarm_ros2 are licensed under the BSD-3-Clause.