Completed MoveIt2 supporting ROS2 MuJoCo hardware interface #48
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Depends on enactic/openarm_description#11 |
- Temporary fix: read method with effective refresh_all() - Use conservative PD parameters for control Fix typo in config yaml param Bump version to v1.0
openarm_bimanual_moveit_config Rework urdf v1 Fix arm controllers, fixing gripper next Support v1 moveit2 Add customization options to demo.launch (#38)
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Before merging, I want to clean up the yamls and add header files. |
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Pull Request Overview
This PR completes MoveIt2 support for the OpenArm robot system by adding hardware interface flexibility and bimanual MoveIt configuration. The main purpose is to enable the use of different hardware backends (real/mock/mujoco) instead of just the previous binary fake/real option.
- Renamed
use_fake_hardwareparameter tohardware_typeacross launch files for more flexible hardware selection - Added comprehensive bimanual MoveIt configuration package with all necessary config files and launch scripts
- Updated documentation to reflect the new hardware parameter naming
Reviewed Changes
Copilot reviewed 22 out of 22 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| openarm_bringup/launch/openarm.launch.py | Updated hardware parameter from boolean to string type |
| openarm_bringup/launch/openarm.bimanual.launch.py | Updated hardware parameter from boolean to string type |
| openarm_bringup/README.md | Updated documentation for new hardware parameter |
| openarm_bimanual_moveit_config/* | Added complete MoveIt configuration package for bimanual setup |
Comments suppressed due to low confidence (3)
openarm_bimanual_moveit_config/launch/demo.launch.py:152
- This launch file still uses the old
use_fake_hardwareparameter name instead of the newhardware_typeparameter that was updated in other files. This inconsistency could cause confusion.
DeclareLaunchArgument("use_fake_hardware", default_value="false"),
openarm_bimanual_moveit_config/launch/demo.launch.py:66
- The xacro mapping still uses
use_fake_hardwareinstead ofhardware_type, which is inconsistent with the parameter renaming done in other files.
"use_fake_hardware": use_fake_hardware_str,
openarm_bimanual_moveit_config/config/openarm_bimanual.srdf:94
- Inconsistent naming: left gripper uses 'half closed' (with space) while right gripper uses 'half_closed' (with underscore) on line 97. Both should use the same naming convention.
<group_state name="half closed" group="left_gripper">
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Renamed the branch. |
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Rebased from main
moveit2.mp4