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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/croboticsolutions/arm_api2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-17 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
MoveIt2 interface for robot manipulators
Additional Links
No additional links.
Maintainers
- root
Authors
No additional authors.
arm_api2
:mechanical_arm: API for robotic manipulators based on:
Docker for building required environment can be found here.
For building ROS 2 packages and moveit, it is neccessary to use colcon.
Tell us anonymously what arms we should support here. :smile:
Depends on:
Aditional dependencies are (depending on the arm you use):
Aim of the repository
With arm_api as precursor, which was intended to provide simple ROS interfacing with
robot manipulators with the help of MoveIt! and ROS.
This repository arm_api2 is intended to provide interfacing support for robot manipulators for ROS 2 and MoveIt2!.
Goals
Create API simple to run and maintain that supports working with different robot manipulators out of the box.
Robot manipulators of interest are:
- Franka Emika
- UR
- Kinova
- Kuka
Wanted arm functionalities:
go_to_posegraspreleasepush<something_else?>
ROS 2 robot interface:
Change robot state:
- srv:
/arm_api2_msgs/srv/ChangeState.srv - values
JOINT_TRAJ_CTL || CART_TRAJ_CTL || SERVO_CTL
Command robot pose:
- msg:
geometry_msgs/msg/PoseStamped.msg
Command cartesian path:
- msg:
arm_api2_msgs/msg/CartesianWaypoints.msg
Command gripper closing:
- srv:
std_srvs/srv/Trigger.srv
Command gripper opening:
- srv:
std_srvs/srv/Trigger.srv
Get current end effector pose:
- msg:
geometry_msgs/msg/PoseStamped.msg
Robot states
Currently implemented and available robot states are:
-
JOINT_TRAJ_CTL, which is used for joint control -
CART_TRAJ_CTL, which is used for cartesian control -
SERVO_CTL, which is used for the end effector servoing
Change robot state by calling:
ros2 service call /change_state arm_api2_msgs/srv/ChangeState "{state: JOINT_TRAJ_CTL}
How to build package?
### Build:
Build in ROS 2 workspace.
Build just one package with:
```
colcon build --packages-select arm_api2
```
Build with the compile commands (enable autocomplete):
```
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
```
Building with `--symlink-install` causes it to fail often because of already built ROS 2 packages, you can run:
```
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --continue-on-error
```
Full verbose build command:
```
colcon build --symlink-install --packages-select moveit2_tutorials --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_VERBOSE_MAKEFILE=ON
```
Simplify your life
Aliases
Copy to ~/.bashrc and source it.
alias cbp="colcon build --symlink-install --packages-select"
alias panda_sim="ros2 launch panda gz.launch.py"
alias kinova_sim="ros2 launch kortex_bringup kortex_sim_control.launch.py dof:=7 use_sim_time:=true launch_rviz:=false"
alias ur_sim="ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:=\"ur10\""
Build arm_api2 package as:
cbp arm_api2
Start franka sim with:
franka_sim
Start kinova sim with:
kinova_sim
Start ur sim with:
ur_sim
Start iface by changing robot_name argument to kinova, ur or franka. Depending which arm you want to use, when running:
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:=<robot_name>
Tmunxinator
Start kinova with:
tmuxinator start kinova_api2
after calling
./copy_tmuxinator_config.sh kinova_api2.yml
located in utils/tmux_configs. Navigate between
panes with Ctrl+B+(arrows).
How to use Kinova?</summary>
You can run kinova in simulation by executing following commands:
```
ros2 launch kortex_bringup kortex_sim_control.launch.py dof:=7 use_sim_time:=true launch_rviz:=false
```
or
```
kinova_sim
```
if alias has been added.
After that run `move_group` node as follows:
```
ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py
```
After that run `arm_api2` `moveit2_iface` node as follows:
```
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="kinova"
```
#### Kinova
How to setup real kinova [here](https://git.initrobots.ca/amercader/kinova-kortex-installation).
</details>
How to use UR?</summary>
### How to use?
You can run UR in simulation by executing following commands:
```
ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:="ur10"
```
or
```
ur_sim
```
if alias has been added.
After that run `move_group` node as follows:
```
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:="ur10" use_sim_time:=true
```
After that run `arm_api2` `moveit2_iface` node as follows:
```
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="ur"
```
#### How to setup?
First run:
```
sudo apt-get install ros-humble-ur
```
After that, in your ROS 2 workspace clone:
* [ur_gz_sim](https://github.com/CroboticSolutions/Universal_Robots_ROS2_GZ_Simulation/tree/humble)
* [ur_ros2_driver](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/tree/humble)
and build your workspace. Source it, and you're good to go.
Note, those are forks of the official UR repositories on the `humble` branch,
with [slight changes](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/commit/3ad47d7afaf99eeb1f69c6bb23bbdcccce12c4f5) to the `launch` files.
</details>
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
* [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
* [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
* [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [ ] Create universal launch file
- [ ] Create standardized joystick class
- [ ] Test/Test/Test
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [ ] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
|:------------:|---------------|----------------|-----------|-----|------|----------|
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | - | - |
| IIWA | - | - | - | - | - | - |
</details>
## Roadmap
```mermaid
timeline
4/2024 : Start of the development
6/2024 : Open-sourced version
9/2024 : Tested on one manipulator
10/2024: Integrated with GUI
11/2024: Integrated with perception capabilities
12/2024 : Tested on 5 manipulators
.../2025 : TBA
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
How to use UR?</summary>
### How to use?
You can run UR in simulation by executing following commands:
```
ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:="ur10"
```
or
```
ur_sim
```
if alias has been added.
After that run `move_group` node as follows:
```
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:="ur10" use_sim_time:=true
```
After that run `arm_api2` `moveit2_iface` node as follows:
```
ros2 launch arm_api2 moveit2_iface.launch.py robot_name:="ur"
```
#### How to setup?
First run:
```
sudo apt-get install ros-humble-ur
```
After that, in your ROS 2 workspace clone:
* [ur_gz_sim](https://github.com/CroboticSolutions/Universal_Robots_ROS2_GZ_Simulation/tree/humble)
* [ur_ros2_driver](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/tree/humble)
and build your workspace. Source it, and you're good to go.
Note, those are forks of the official UR repositories on the `humble` branch,
with [slight changes](https://github.com/CroboticSolutions/Universal_Robots_ROS2_Driver/commit/3ad47d7afaf99eeb1f69c6bb23bbdcccce12c4f5) to the `launch` files.
</details>
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
* [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
* [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
* [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [ ] Create universal launch file
- [ ] Create standardized joystick class
- [ ] Test/Test/Test
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [ ] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
|:------------:|---------------|----------------|-----------|-----|------|----------|
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | - | - |
| IIWA | - | - | - | - | - | - |
</details>
## Roadmap
```mermaid
timeline
4/2024 : Start of the development
6/2024 : Open-sourced version
9/2024 : Tested on one manipulator
10/2024: Integrated with GUI
11/2024: Integrated with perception capabilities
12/2024 : Tested on 5 manipulators
.../2025 : TBA
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
How to use with custom arm?</summary>
In order to use this package with custom arm, you need to do following:
1. Create moveit_package for your arm using `moveit_setup_assistant`.
Tutorial on how to use it can be be found [here](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html).
Output of the `moveit_setup_assistant` is `_moveit_config` package.
2. Create config files:
a) Create `_config.yaml` and `_servo_config.yaml` in the config folder.
b) Modify `moveit2_iface.launch.py` script by setting correct `robot` argument to the `` value.
3. Setup robot launch file:
In order to be able to use `` please make sure that you set following parameters to true when launching
`moveit_group` node (generated by moveit_setup_assistant):
```
publish_robot_description_semantic = {"publish_robot_description_semantic": True}
publish_robot_description = {"publish_robot_description": True}
publish_robot_description_kinematics = {"publish_robot_description_kinematics": True}
```
as shown [here](https://github.com/CroboticSolutions/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py).
4. Launch:
a) Launch your robot (see examples on kinova, UR or Franka) - `move_group` node
b) Launch `moveit2_iface.launch.py` with correct `robot` param.
</details>
Arm interfaces
* [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
* [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
* [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [ ] Create universal launch file
- [ ] Create standardized joystick class
- [ ] Test/Test/Test
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [ ] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
|:------------:|---------------|----------------|-----------|-----|------|----------|
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | - | - |
| IIWA | - | - | - | - | - | - |
</details>
## Roadmap
```mermaid
timeline
4/2024 : Start of the development
6/2024 : Open-sourced version
9/2024 : Tested on one manipulator
10/2024: Integrated with GUI
11/2024: Integrated with perception capabilities
12/2024 : Tested on 5 manipulators
.../2025 : TBA
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
Arm interfaces
* [franka_ros2](https://support.franka.de/docs/franka_ros2.html)
* [kinova_ros2](https://github.com/Kinovarobotics/ros2_kortex)
* [UR_ros2](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)
Useful learning links
- [Declare variables as const](https://www.cppstories.com/2016/12/please-declare-your-variables-as-const/)
- [Complicated variable initialization](https://www.cppstories.com/2016/11/iife-for-complex-initialization/)
- [C++ good practices](https://ctu-mrs.github.io/docs/introduction/c_to_cpp.html)
- [MoveIt2! C++ iface](https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html)
- [How to setup VSCode](https://picknik.ai/vscode/docker/ros2/2024/01/23/ROS2-and-VSCode.html)
- [First Cpp node for ROS 2](https://turtlebot.github.io/turtlebot4-user-manual/tutorials/first_node_cpp.html)
- [Composition of ROS nodes](https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/)
- [planning_scene](https://github.com/moveit/moveit2_tutorials/blob/main/doc/examples/planning_scene/src/planning_scene_tutorial.cpp)
- [custom moveit ns](https://github.com/moveit/moveit2/issues/2415)
- [publish robot_description](https://github.com/moveit/moveit2_tutorials/issues/525)
- [joint state clock not in sync](https://answers.ros.org/question/417209/how-to-extract-position-of-the-gripper-in-ros2moveit2/)
- [issue for initializing MGI](https://github.com/moveit/moveit2/issues/496)
Status
### TODO [High priority]:
- [x] Fix command/reached pose mismatch!
- [x] Add orientation normalization
- [x] Add contributing
- [x] Add gripper abstract class
- [ ] Add correct inheritance for the gripper abstract class
- [ ] Create universal launch file
- [ ] Create standardized joystick class
- [ ] Test/Test/Test
### TODO [Low priority]:
- [x] Test with real robot manipulator [tested on Kinova, basic functionality tested]
- [x] Add basic documentation
- [x] Add roadmap
- [ ] Discuss potential SW patterns that can be used
- [ ] Add full cartesian following
- [ ] Add roll, pitch, yaw and quaternion conversion
- [x] Decouple moveit2_iface.cpp and utils.cpp (contains all utils scripts)
- [x] Create table of supported robot manipulators
Supported arms table</summary>
| Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST |
|:------------:|---------------|----------------|-----------|-----|------|----------|
| Franka Emika | + | + | + | + | - | - |
| Kinova | + | + | + | + | - | - |
| UR | + | + | + | + | - | - |
| IIWA | - | - | - | - | - | - |
</details>
## Roadmap
```mermaid
timeline
4/2024 : Start of the development
6/2024 : Open-sourced version
9/2024 : Tested on one manipulator
10/2024: Integrated with GUI
11/2024: Integrated with perception capabilities
12/2024 : Tested on 5 manipulators
.../2025 : TBA
```
If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
</summary> | Arms | CART_TRAJ_CTL | JOINT_TRAJ_CTL | SERVO_CTL | SIM | REAL | EXT_TEST | |:------------:|---------------|----------------|-----------|-----|------|----------| | Franka Emika | + | + | + | + | - | - | | Kinova | + | + | + | + | - | - | | UR | + | + | + | + | - | - | | IIWA | - | - | - | - | - | - | </details> ## Roadmap ```mermaid timeline 4/2024 : Start of the development 6/2024 : Open-sourced version 9/2024 : Tested on one manipulator 10/2024: Integrated with GUI 11/2024: Integrated with perception capabilities 12/2024 : Tested on 5 manipulators .../2025 : TBA ``` If you want to contribute, please check **Status** section and check [CONTRIBUTE](./CONTRIBUTE.md).
CHANGELOG
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You can check on the ROS Wiki Tutorials page for the package.
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