Reconfigured controllers with new URDF for v1.0 #34
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Pull Request Overview
This PR implements a major reconfiguration of the OpenArm robot controllers for v1.0 release, transitioning from v0.3 robot descriptions. The changes introduce a new xacro-based robot description generation system, replace the existing launch file architecture with opaque functions for better control flow, and add bimanual support.
- Implements xacro-based robot description processing with dynamic parameter substitution
- Replaces event-driven controller spawning with timer-based sequencing
- Adds comprehensive bimanual robot configuration support
Reviewed Changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| openarm_bringup/launch/openarm.launch.py | Complete rewrite with xacro processing and timer-based controller spawning |
| openarm_bringup/launch/openarm.bimanual.launch.py | New bimanual configuration launch file |
| openarm_bringup/config/v10_controllers/ | Updated controller configurations for v10 hardware with new joint naming |
| openarm_bringup/README.md | Updated documentation for v1.0 usage |
| Multiple files | Copyright updates from Reazon Holdings to Enactic |
Comments suppressed due to low confidence (3)
openarm_bringup/config/v10_controllers/openram_v10_bimanual_controllers.yaml:174
- The filename has a typo: 'openram' should be 'openarm' to match the project naming convention.
state_interfaces:
openarm_bringup/launch/openarm.launch.py:160
- Variable 'controllers_file' is being redefined. The LaunchConfiguration is declared, then immediately overwritten with PathJoinSubstitution on line 164, which could cause confusion.
controllers_file = LaunchConfiguration("controllers_file")
openarm_bringup/launch/openarm.bimanual.launch.py:186
- Variable 'controllers_file' is being redefined. The LaunchConfiguration is declared, then immediately overwritten with PathJoinSubstitution on line 190, which could cause confusion.
controllers_file = LaunchConfiguration("controllers_file")
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As of now, running ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v10 use_fake_hardware:=trueworks on latest version of description |
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@kou can we merge this v1.0 adaptation after the current package that only works with v0.3 is tagged? |
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Yes! |
This PR is made for new release and do not work with current v0.3 robot descriptions.
Use for the ros2 control for quick arm control.
Launch files spawn: