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OpenArm Software Guide

Welcome to the OpenArm software ecosystem! We're building a toolkit for bridging the bimanual robot (and we'd love your help making it even better).

🚀 What to Expect (and Growing!)​

The OpenArm software ecosystem is continuously evolving, offering tools that bridge hardware and intelligent control:

  • Robot Description: Modularized XACRO files for generating URDF robot models for controls and simulation
  • Low-Level Control APIs: High-frequency control package allows direct interaction with motors
  • 🚧 ROS2 Integration: Standard robotics middleware compatibility
  • 🚧 Control Algorithms: System identification and advanced control strategies

Many of these components are actively being developed and improved. We welcome contributions, feedback, and collaboration!

🛠️ Getting Started​

New to OpenArm? Start with our Setup Guide to configure your development environment.

Want to contribute? Each section below has opportunities for improvement and extension.

🛣️ Available Components​

Robot Description​

Learn more under Robot Description →

URDF and XACRO files that provide representations of OpenArm. These models enable simulation, motion planning, and visualization. The package supports both single-arm and bimanual configurations.

SocketCAN Communication​

Learn more under SocketCAN Communication →

A C++ library for communicating with OpenArm motors through Linux's SocketCAN interface. Enables real-time control loops and motor coordination. Offers Python bindings for seamless integration with other frameworks.

ROS2 Integration​

Learn more under ROS2 →

Middleware for connecting OpenArm with the broader ROS2 ecosystem. Enables compatibility with existing robotics tools and frameworks.

  • Current features: ROS2 control and hardware interfaces and moveit configurations for basic motion planning
  • In development: Efficient hardware bridging node for direct control
  • Help wanted: Support for additional ROS2 distributions, testing and validation

Advanced Controls​

Learn more under Controls →

Control guides and algorithms for OpenArm systems. This is an active area of development where we're implementing and testing various control approaches.

  • In development: System identification guide, gravity compensation, cartesian space control
  • Help wanted: Algorithm implementations, validation testing, control theory expertise

🤝 Join the Community​

  • 💬 Connect with us on Discord
  • 🐞 Report bugs or request features via GitHub issues in each repository
  • 🔥 Contribute by submitting pull requests
  • 📧 Reach out at openarm@enactic.ai

The OpenArm ecosystem grows stronger with every contribution. Ready to help build the future of accessible robotics?