openarmx_tools

openarmx_tools is the OpenArmX utility collection, mainly for debugging, teaching, parameter tuning, and rapid integration.
Each subpackage in this directory can be built and used independently, covering common engineering workflows from RViz visual control to trajectory recording and playback.

⚠️ It is recommended to confirm robot controllers are running normally before using these tools for tuning or teaching.

🧰 Included Tools

1. openarmx_joint_slider_panel

• RViz2 joint slider panel (dual-arm + dual-gripper).
• Suitable for quick pose adjustment, demos, and integration testing.
• Supports segmented step execution to reduce motion shock from large jumps.

2. openarmx_gripper_panel

• RViz2 gripper control panel.
• Supports left gripper, right gripper, or synchronized dual-gripper control.
• Sends commands via GripperCommand action.

3. openarmx_kp_kd_panel

• RViz2 KP/KD parameter tuning panel.
• Enables real-time stiffness and damping adjustment for arm and gripper.
• Supports right-arm, left-arm, or dual-arm mode for real hardware tuning.

4. openarmx_teach

• Trajectory teaching tools (record + playback).
• Records YAML trajectories from /joint_states, then replays to arm and gripper controllers.
• Supports joint filtering, rate scaling, and gripper synchronization strategies.

🚀 Recommended Workflow (Typical Real-Robot Flow)

1. Start robot base services (bringup/moveit, controllers online)
2. Use openarmx_kp_kd_panel to tune stiffness to a suitable level
3. Use openarmx_joint_slider_panel or openarmx_gripper_panel for motion debugging
4. Use openarmx_teach for trajectory recording and playback verification

✅ Following this order usually reduces troubleshooting cost for issues like “topics exist but robot does not move”.

🔧 Quick Build

Run in your workspace root:

colcon build --packages-select \
  openarmx_joint_slider_panel \
  openarmx_gripper_panel \
  openarmx_kp_kd_panel \
  openarmx_teach
source install/setup.bash

📚 Documentation Entry Points

• openarmx_joint_slider_panel/README_CN.md
• openarmx_gripper_panel/README_CN.md
• openarmx_kp_kd_panel/README_CN.md
• openarmx_teach/README_CN.md

⚖️ License

Subpackages in this directory follow the licenses declared in the repository (see each subpackage LICENSE and README).