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add v20 support#87

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tokirobot wants to merge 22 commits into
enactic:mainfrom
tokirobot:feature/v2.0
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add v20 support#87
tokirobot wants to merge 22 commits into
enactic:mainfrom
tokirobot:feature/v2.0

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@tokirobot tokirobot commented Apr 10, 2026 •
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openarm_description

  • Add v20 arm support with new URDF/xacro structure
  • Add pinch_gripper end-effector alongside existing parallel_link
  • Reorganize config and mesh directories by arm/body/ee type

openarm_bringup

  • Rename v10_controllers/ to controllers/ for version-agnostic structure
  • Update launch files to support arm_type argument for v10/v20 switching

openarm_hardware

  • Rename v10_simple_hardware to openarm_simple_hardware
  • Add ee_type parameter to support parallel_link and pinch_gripper mapping
  • Generalize gripper joint-to-motor conversion based on ee_type

openarm_bimanual_moveit_config

  • Reorganize config into v10/ and v20/ subdirectories
  • Add v20 SRDF with updated link structure and revolute gripper states
  • Update launch files to switch config path based on arm_type argument

TODO

  • Test on real hardware
  • Check for jerky motion on startup/activation

@tokirobot tokirobot marked this pull request as ready for review May 11, 2026 14:52
@gunyarakun gunyarakun requested a review from abetomo May 14, 2026 08:05
abetomo
abetomo reviewed May 14, 2026
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Comment thread openarm_bimanual_moveit_config/config/openarm_v1.0/openarm_bimanual.srdf
<disable_collisions link1="openarm_left_link7" link2="openarm_left_left_finger" reason="Adjacent"/>
<disable_collisions link1="openarm_left_link7" link2="openarm_left_right_finger" reason="Adjacent"/>
<disable_collisions link1="openarm_right_link7" link2="openarm_right_left_finger" reason="Adjacent"/>
<disable_collisions link1="openarm_right_link7" link2="openarm_right_right_finger" reason="Adjacent"/>
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@abetomo abetomo May 14, 2026

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The <disable_collisions ... reason="Never"/> entries that existed in the original openarm_bimanual_moveit_config/config/openarm_bimanual.srdf (https://github.com/enactic/openarm_ros2/pull/87/files#diff-1fb394c194aa822f4b5be059252b7e7490957bfb127f7ec4298de263b1da53c4) have been dropped in the renamed file.
Is this intentional?

abetomo
abetomo reviewed May 14, 2026
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Comment thread openarm_bimanual_moveit_config/config/openarm_v1.0/openarm_bimanual.urdf.xacro
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@abetomo abetomo May 14, 2026

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This file doesn't appear to be referenced anywhere in the repo.
Could we just remove it?

Comment thread openarm_bimanual_moveit_config/config/openarm_v2.0/openarm_bimanual.urdf.xacro
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This file doesn't appear to be referenced anywhere in the repo.
Could we just remove it?

@abetomo abetomo mentioned this pull request May 15, 2026
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abetomo commented May 15, 2026

We decided to move the Dora node (openarm_dora_ros2/) to a separate repository.

All changes except the dora nodes were merged via #91.

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