Configure MoveIt2 for OpenArm Bimanual v1#36
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Pull Request Overview
This PR configures MoveIt2 for OpenArm Bimanual v1, transitioning from Reazon Holdings to Enactic branding and implementing comprehensive support for both unimanual and bimanual robot configurations with motion planning capabilities.
Key changes:
- Updates package metadata and copyright notices from Reazon Holdings to Enactic
- Migrates from v0.3.0 to v1.0.0 across multiple packages
- Adds comprehensive MoveIt2 configuration for bimanual robot control
Reviewed Changes
Copilot reviewed 35 out of 35 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| openarm_hardware/package.xml | Version bump to 1.0.0 |
| openarm_bringup/ | Complete rewrite of launch system with bimanual support and controller configurations |
| openarm_bimanual_moveit_config/ | Extensive MoveIt2 configuration updates with joint mapping and controller setup |
| openarm/package.xml | Version bump and copyright update |
| README.md | Documentation updates reflecting new structure and capabilities |
Comments suppressed due to low confidence (2)
openarm_bringup/launch/openarm.bimanual.launch.py:202
- Variable name 'rightcan_interface' is inconsistent with naming convention. Should be 'right_can_interface' to match the parameter name and other variable names in the file.
rightcan_interface = LaunchConfiguration("right_can_interface")
openarm_bringup/launch/openarm.bimanual.launch.py:214
- Inconsistent variable name 'rightcan_interface' should be 'right_can_interface' to match the declaration and naming convention.
use_fake_hardware, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
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| # Timing and sequencing | ||
| LAUNCH_DELAY_SECONDS = 1.0 |
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[nitpick] Magic number 1.0 should be defined as a module-level constant rather than a local constant, or use the existing delay value from the unimanual launch file for consistency.
| LAUNCH_DELAY_SECONDS = 1.0 |
| can_interface = LaunchConfiguration("can_interface") | ||
| arm_prefix = LaunchConfiguration("arm_prefix") | ||
| # Configuration file paths | ||
| controllers_file = PathJoinSubstitution( |
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Variable 'controllers_file' is being reassigned after being initialized as a LaunchConfiguration. This shadows the previous declaration and could cause confusion.
| controllers_file = PathJoinSubstitution( | |
| controllers_file_path = PathJoinSubstitution( |
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Closing and moving to |
Depends on:
Adds MoveIt2 IK for all joint groups in openarm:
moveit2.mp4