Ligx/us/t100154

.gitignore

@@ -2,3 +2,5 @@
 .DS_Store
 .vscode/
 __pycache__/
+.github/
+openarm_description/

dev/修改記錄.md

@@ -0,0 +1,59 @@
+# 註冊新硬件接口
+openarm_hardware.xml 
+```
+class name="openarm_hardware/OpenArm_OYHW"
+```
+
+
+## Markdown 內容樣式範例
+
+### 標題
+```markdown
+# 一級標題
+## 二級標題
+### 三級標題
+```
+
+### 列表
+```markdown
+- 無序列表項目 1
+- 無序列表項目 2
+
+1. 有序列表項目 1
+2. 有序列表項目 2
+```
+
+### 程式碼區塊
+```markdown
+`行內程式碼`
+
+​```python
+def hello():
+    print("Hello World")
+​```
+```
+
+### 連結與圖片
+```markdown
+[連結文字](https://example.com)
+![圖片描述](image.png)
+```
+
+### 表格
+```markdown
+| 欄位1 | 欄位2 | 欄位3 |
+|-------|-------|-------|
+| 內容1 | 內容2 | 內容3 |
+```
+
+### 引用
+```markdown
+> 這是一段引用文字
+```
+
+### 強調
+```markdown
+**粗體文字**
+*斜體文字*
+~~刪除線~~
+```

openarm.repos

@@ -15,5 +15,5 @@
 repositories:
   openarm_can:
     type: git
-    url: https://github.com/enactic/openarm_can.git
-    version: main
+    url: git@github.com:openvmi/openarm_can.git
+    version: oy_openarm_can

openarm_bimanual_moveit_config/config/openarm_bimanual.srdf

@@ -104,8 +104,8 @@
         <joint name="openarm_right_finger_joint1" value="0.044"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="left_ee" parent_link="openarm_left_hand" group="left_gripper"/>
-    <end_effector name="right_ee" parent_link="openarm_right_hand" group="right_gripper"/>
+    <end_effector name="left_ee" parent_link="openarm_left_link7" group="left_gripper" parent_group="left_arm"/>
+    <end_effector name="right_ee" parent_link="openarm_right_link7" group="right_gripper" parent_group="right_arm"/>
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="openarm_left_finger_joint2"/>
     <passive_joint name="openarm_right_finger_joint2"/>

openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro

@@ -19,8 +19,7 @@
     <xacro:arg name="hardware_type" default="real" />
 
     <!-- Import openarm_bimanual urdf file -->
-    <xacro:include filename="$(find openarm_description)/urdf/robot/v10.urdf.xacro" />
-
+    <xacro:include filename="$(find openarm_description)/urdf/robot/oy.urdf.xacro" />
     <link name="base_link"/>
     <joint name="world_to_pedestal" type="fixed">
         <parent link="world"/>

openarm_bimanual_moveit_config/config/ros2_controllers.yaml

@@ -44,6 +44,7 @@ left_arm_controller:
       - openarm_left_joint7
     command_interfaces:
       - position
+      - velocity
     state_interfaces:
       - position
       - velocity
@@ -61,6 +62,7 @@ right_arm_controller:
       - openarm_right_joint7
     command_interfaces:
       - position
+      - velocity
     state_interfaces:
       - position
       - velocity

openarm_bimanual_moveit_config/launch/demo.launch.py

@@ -139,16 +139,51 @@ def controller_spawner(context: LaunchContext, robot_controller):
 
 
 def generate_launch_description():
+    """Generate launch description for OpenARM bimanual robot with MoveIt2 configuration.
+
+    This function creates a complete launch description that sets up a dual-arm (bimanual)
+    OpenARM robot system with MoveIt2 motion planning capabilities.
+
+    The launch description includes:
+        - Robot description and state publisher nodes via OpaqueFunction
+        - Joint state broadcaster for publishing joint states
+        - Arm trajectory controllers (forward position or joint trajectory)
+        - Gripper controllers for both left and right grippers
+        - MoveIt2 move_group node for motion planning
+        - RViz2 visualization with MoveIt configuration
+
+    Launch Arguments:
+        description_package (str): Package containing robot description. Default: "openarm_description"
+        description_file (str): URDF/xacro file name. Default: "oy.urdf.xacro"
+        arm_type (str): Type of arm configuration. Default: "oy"
+        use_fake_hardware (str): Whether to use simulated hardware. Default: "false"
+        robot_controller (str): Controller type to use. Default: "joint_trajectory_controller"
+            Choices: "forward_position_controller", "joint_trajectory_controller"
+        runtime_config_package (str): Package with runtime configs. Default: "openarm_bringup"
+        arm_prefix (str): Prefix for arm links/joints. Default: ""
+        right_can_interface (str): CAN interface for right arm. Default: "can0"
+        left_can_interface (str): CAN interface for left arm. Default: "can1"
+        controllers_file (str): Controllers YAML config file. Default: "openarm_oy_bimanual_controllers.yaml"
+
+    Note:
+        OpaqueFunction is used to defer node creation until launch time, allowing
+        dynamic configuration based on launch arguments that are only resolved
+        at runtime. This is necessary when node parameters depend on substitutions
+        that cannot be evaluated during launch file parsing.
+
+    Returns:
+        LaunchDescription: Complete launch description for the bimanual robot system.
+    """
     declared_arguments = [
         DeclareLaunchArgument(
             "description_package",
             default_value="openarm_description",
         ),
         DeclareLaunchArgument(
             "description_file",
-            default_value="v10.urdf.xacro",
+            default_value="oy.urdf.xacro",
         ),
-        DeclareLaunchArgument("arm_type", default_value="v10"),
+        DeclareLaunchArgument("arm_type", default_value="oy"),
         DeclareLaunchArgument("use_fake_hardware", default_value="false"),
         DeclareLaunchArgument(
             "robot_controller",
@@ -164,7 +199,7 @@ def generate_launch_description():
         DeclareLaunchArgument("left_can_interface", default_value="can1"),
         DeclareLaunchArgument(
             "controllers_file",
-            default_value="openarm_v10_bimanual_controllers.yaml",
+            default_value="openarm_oy_bimanual_controllers.yaml",
         ),
     ]
 
@@ -181,7 +216,7 @@ def generate_launch_description():
 
     controllers_file = PathJoinSubstitution(
         [FindPackageShare(runtime_config_package), "config",
-         "v10_controllers", controllers_file]
+         "oy_controllers", controllers_file]
     )
 
     robot_nodes_spawner_func = OpaqueFunction(

openarm_bringup/config/oy_controllers/openarm_oy_bimanual_controllers.yaml

@@ -0,0 +1,179 @@
+# Copyright 2025 Enactic, Inc.
+# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    left_forward_position_controller:
+      type: forward_command_controller/ForwardCommandController
+
+    left_forward_velocity_controller:
+      type: forward_command_controller/ForwardCommandController
+
+    left_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    left_gripper_controller:
+      type: position_controllers/GripperActionController
+
+    right_forward_position_controller:
+      type: forward_command_controller/ForwardCommandController
+
+    right_forward_velocity_controller:
+      type: forward_command_controller/ForwardCommandController
+
+    right_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    right_gripper_controller:
+      type: position_controllers/GripperActionController
+
+
+left_forward_position_controller:
+  ros__parameters:
+    joints:
+      - openarm_left_joint1
+      - openarm_left_joint2
+      - openarm_left_joint3
+      - openarm_left_joint4
+      - openarm_left_joint5
+      - openarm_left_joint6
+      - openarm_left_joint7
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+left_forward_velocity_controller:
+  ros__parameters:
+    joints:
+      - openarm_left_joint1
+      - openarm_left_joint2
+      - openarm_left_joint3
+      - openarm_left_joint4
+      - openarm_left_joint5
+      - openarm_left_joint6
+      - openarm_left_joint7
+    interface_name: velocity
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - velocity
+
+left_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - openarm_left_joint1
+      - openarm_left_joint2
+      - openarm_left_joint3
+      - openarm_left_joint4
+      - openarm_left_joint5
+      - openarm_left_joint6
+      - openarm_left_joint7
+    interface_name: position
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 50.0 # Defaults to 50
+    action_monitor_rate: 50.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    constraints:
+      stopped_velocity_tolerance: 0.05 # Relaxed for real motor velocity jitter
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)
+
+left_gripper_controller:
+  ros__parameters:
+    joint: openarm_left_finger_joint1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+
+right_forward_position_controller:
+  ros__parameters:
+    joints:
+      - openarm_right_joint1
+      - openarm_right_joint2
+      - openarm_right_joint3
+      - openarm_right_joint4
+      - openarm_right_joint5
+      - openarm_right_joint6
+      - openarm_right_joint7
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+right_forward_velocity_controller:
+  ros__parameters:
+    joints:
+      - openarm_right_joint1
+      - openarm_right_joint2
+      - openarm_right_joint3
+      - openarm_right_joint4
+      - openarm_right_joint5
+      - openarm_right_joint6
+      - openarm_right_joint7
+    interface_name: velocity
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - velocity
+
+right_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - openarm_right_joint1
+      - openarm_right_joint2
+      - openarm_right_joint3
+      - openarm_right_joint4
+      - openarm_right_joint5
+      - openarm_right_joint6
+      - openarm_right_joint7
+    interface_name: position
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 50.0 # Defaults to 50
+    action_monitor_rate: 50.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    constraints:
+      stopped_velocity_tolerance: 0.05 # Relaxed for real motor velocity jitter
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)
+
+right_gripper_controller:
+  ros__parameters:
+    joint: openarm_right_finger_joint1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position