openarm_ros2/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

1. Install ROS2 (Humble with Ubuntu 22.04 is recommended)
2. Create a ROS2 workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git

3. Install dependencies with rosdep and build the packages with colcon

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

4. 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.