ROS2 packages for OpenArm robots

Quickstart

waving_openarm.mp4

• 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

moveit_openarm.mp4

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

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
source install/setup.bash

5. 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.