🛠️ OpenArm Teleop - Setup Guide

This guide walks you through the steps to set up and build the openarm_teleop library.

Before proceeding, please ensure the following dependencies are satisfied:

• ✅ openarm_can library (see OpenArm CAN library)
• ✅ openarm_description library (see OpenArm Description)

---

🚀 Step 1: Clone the Teleop Repository

Clone the openarm_teleop repository and move into the directory:

git clone https://github.com/enactic/openarm_teleop.git
cd openarm_teleop

2. Install Dependancy

sudo apt update && sudo apt install -y \
  libopenarmcan-dev \
  liborocos-kdl-dev \
  libeigen3-dev \
  liburdfdom-dev \
  liburdfdom-headers-dev \
  libyaml-cpp-dev

3. Build the teleop library

cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build

Step 4: Initialize the CAN Network

Each arm requires a dedicated CAN interface (1 arm = 1 CAN port).

To initialize a CAN interface (e.g., can0) in CAN FD mode, run:

cd openarm_can
./setup/configure_socketcan.sh can0 -fd