OpenArmX ROS 2 Core

English | 简体中文

Core ROS 2 packages for OpenArmX. Combined with openarmx_description (URDF/xacro/meshes), they provide the baseline hardware bringup and motion control stack for OpenArmX V10.

Contents

• openarmx – metapackage that pulls the core components below.
• openarmx_hardware – ros2_control SystemInterface plugin (openarmx_hardware/OpenArmX_v10HW) that drives the arm/gripper via openarmx_can.
• openarmx_bringup – launch files, RViz config, gripper control guides for running the robot.
• openarmx_bimanual_moveit_config – MoveIt config (bimanual example) that depends on openarmx_description.
• openarmx_preview_bringup：A ROS 2 package for robot joint motion control.
• Additional repos: see openarmx_minimal.repos (required openarmx_description) or openarmx.repos (adds teleop/tools/motor manager).
• openarmx-can_1.0.0_amd64.deb：driver of motors, The motor driver must be installed before compilation.

Requirements

• Ubuntu 22.04, ROS 2 Humble.
• Build: colcon, ament_cmake, C++17 toolchain.
• ROS deps: rclcpp, pluginlib, hardware_interface/ros2_control, MoveIt stack for the MoveIt config.
• System: SocketCAN enabled (can-utils), optional python-can for setup scripts.
• Hardware use: Robstride motors reachable on a CAN interface (default can0).

Workspace Setup

# Install vcs
sudo apt-get install python3-vcstool -y

mkdir -p ~/openarmx_ws/src && cd ~/openarmx_ws/src
git clone https://github.com/openarmx/openarmx_ros2.git
# Fetch the required robot description (minimal) or full optional set
vcs import < openarmx_ros2/openarmx_minimal.repos
# or: vcs import < openarmx_ros2/openarmx.repos
rosdep install --from-paths . --ignore-src -r -y

Install OpenArmX Can

sudo dpkg -i openarmx-can_1.0.0_amd64.deb

Build

cd ~/openarmx_ws
colcon build
source install/setup.bash

Run (examples)

# real robot, one key run script
/home/openarmx/openarmx_ws/src/openarmx_ros2/openarmx_bimanual_moveit_config/run_bimanual_moveit_with_can2.0.sh
# Simulation mode
/home/openarmx/openarmx_ws/src/openarmx_ros2/openarmx_bimanual_moveit_config/run_bimanual_moveit_sim.sh

License

This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).

Copyright (c) 2026 Chengdu Changshu Robot Co., Ltd. (成都长数机器人有限公司)

For more details, see the LICENSE file or visit: http://creativecommons.org/licenses/by-nc-sa/4.0/

Author

• Zhang Li (张力)
• Company: Chengdu Changshu Robot Co., Ltd. (成都长数机器人有限公司)
• Website: https://openarmx.com/

Version

Current Version: 6.0.0

Acknowledgments

This package is part of the OpenArmX robotic platform ecosystem, developed for research and industrial applications in collaborative robotics.

---

📞 Contact Us

Chengdu Changshu Robot Co., Ltd.

Contact	Information
📧 Email	openarmrobot@gmail.com
📱 Phone / WeChat	+86-17746530375
🌐 Website	https://openarmx.com/
🌐 Documentation	http://docs.openarmx.com/
📍 Address	Huacheng Machinery Plant, No.11 Xinye 8th Street, West Area, Tianjin Economic-Technological Development Area
👤 Contact Person	Mr. Wang