Repository Summary

Checkout URI https://github.com/reazon-research/openarm_ros2.git
VCS Type git
VCS Version main
Last Updated 2025-05-07
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

ROS2 packages for OpenArm robots

<a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status"> </a>

Quickstart

https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4

  • openarm_bimanual_description: dual arm urdf with torso and realsense head camera
  • openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
  • openarm_bimanual_bringup: setup scripts for bimanual openarm
  • openarm_bringup: setup scripts for single physical openarm
  • 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:

visual meshes of openarm_bimanual_description urdf in rviz2 collision meshes of openarm_bimanual_description urdf in rviz2

MoveIt2 Support

https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef

Installation

  1. Install ROS2 and ros-dev-tools (tested on Humble with Ubuntu 22.04)
  2. Create a ROS2 workspace and source the overlay
source /opt/ros/humble/setup.bash # change humble to your ROS2 distro
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git

  1. 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

  1. In a new terminal, source the workspace setup script
cd ~/ros2_ws
source install/setup.bash

  1. Test the installation by launching a demo. It may be necessary to restart your computer once.
ros2 launch openarm_bimanual_moveit_config demo.launch.py

License

All packages of openarm_ros2 are licensed under the BSD-3-Clause.

CONTRIBUTING

No CONTRIBUTING.md found.

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