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openarm repositoryopenarm openarm_bimanual_bringup openarm_bimanual_description openarm_bimanual_moveit_config openarm_bringup openarm_description openarm_hardware openarm_moveit_config |
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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) |
Packages
Name | Version |
---|---|
openarm | 0.3.0 |
openarm_bimanual_bringup | 0.3.0 |
openarm_bimanual_description | 0.3.0 |
openarm_bimanual_moveit_config | 0.3.0 |
openarm_bringup | 0.3.0 |
openarm_description | 0.3.0 |
openarm_hardware | 0.3.0 |
openarm_moveit_config | 0.3.0 |
README
ROS2 packages for OpenArm robots
<a href="https://build.ros2.org/job/Hdev__openarm__ubuntu_jammy_amd64/" alt="alt="ROS2 build status">
</a>
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:
MoveIt2 Support
https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
Installation
- Install ROS2 and ros-dev-tools (tested on Humble with Ubuntu 22.04)
- 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
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
source install/setup.bash
- 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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