ROS2 packages for OpenArm robots

• openarm_bimanual_description: urdf with pedestal torso and arm on each side
• openarm_description: urdf with gripper actuator
• 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:

TODO:

• Add results from true inertia tests to URDF

MoveIt2 Support

moveit_openarm.mp4

TODO:

• ROS 2 control packages (separate branch)

Tested with:

• Rolling
• Jazzy
• Humble

License

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