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Add openarm_grip_description and openarm_moveit_config
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‎LICENSE

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BSD 3-Clause License
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Copyright (c) 2025, Reazon Holdings, Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.

‎README.md

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# ROS integration for OpenArm robots
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- openarm_grip_description: urdf with gripper actuator
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- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
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## License
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All packages of `openarm_ros` are licensed under the [BSD-3-Clause](https://opensource.org/license/bsd-3-clause).

‎openarm_grip_description/config/display.rviz

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Panels:
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- Class: rviz_common/Displays
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Help Height: 138
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Description Topic1
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Splitter Ratio: 0.5
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Tree Height: 1025
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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J2_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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J3_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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J4_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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J5_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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J6_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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J7_v1_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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dummy:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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grip_attach_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_jaw_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_jaw_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 0.8663532137870789
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5453979969024658
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.7153980731964111
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1531
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001f4000004f9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000004f90000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d000004f9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000004f90000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a970000005afc0100000002fb0000000800540069006d0065010000000000000a970000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000072e000004f900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 2711
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X: 60
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Y: 64

‎openarm_grip_description/launch/urdf_preview.launch.py

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import os
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import launch
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import launch_ros
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import xacro
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from ament_index_python import get_package_share_directory
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def get_package_file(package, file_path):
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"""Get the location of a file installed in an ament package"""
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package_path = get_package_share_directory(package)
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absolute_file_path = os.path.join(package_path, file_path)
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return absolute_file_path
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def generate_launch_description():
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xacro_file = get_package_file('openarm_grip_description', 'urdf/openarm_grip.xacro')
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urdf = xacro.process_file(xacro_file).toprettyxml(indent=' ')
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rviz_config_file = get_package_file('openarm_grip_description', 'config/display.rviz')
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return launch.LaunchDescription([
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launch_ros.actions.Node(
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name='robot_state_publisher',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[{'robot_description': urdf}],
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),
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launch_ros.actions.Node(
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name='joint_state_publisher_gui',
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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output='screen',
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),
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launch_ros.actions.Node(
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name='rviz',
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package='rviz2',
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executable='rviz2',
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output='screen',
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arguments=['-d', rviz_config_file]
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)
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])

‎openarm_grip_description/meshes/J2_v1_1.stl

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‎openarm_grip_description/meshes/J3_v1_1.stl

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‎openarm_grip_description/meshes/J4_v1_1.stl

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‎openarm_grip_description/meshes/J5_v1_1.stl

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‎openarm_grip_description/meshes/J6_v1_1.stl

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‎openarm_grip_description/meshes/J7_v1_1.stl

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