From 68a14b980ccad9043515c314ae28025976f4b29e Mon Sep 17 00:00:00 2001 From: LiuzhengSJ Date: Thu, 25 Jun 2026 14:12:08 +0100 Subject: [PATCH] add readme --- README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/README.md b/README.md index e69de29..34e1c60 100644 --- a/README.md +++ b/README.md @@ -0,0 +1,14 @@ +### This repo is for the single arm harvesing robot + +Modular design is considered in this repo. + +Several ros2 packages are list: + +--------------------------------------------------- + +| Package name | function | In/Out | +| -------- | -------- | -------- | +| harvest_arm_rm | The driver package for the arm (take the realman-rm75 for an example). Receive joint command, and feedback arm state. | __IN__: /action/arm, the command including enable, target joint, and tool. __Out__: /Observation/arm, the state of the robot, including measured arm joint positions, joint speed, timer counter, etc. | +| harvest_arm_ctrl | The kinematic part of the arm, containing forward/inverse kinematics. Transformation from pose to joint. The security regulations/constraints are deployed. | - | +| harvest_arm_retarget | Transformation among different frames. Convert target into robot arm frame. | - | +------------------------------------------------------------------ \ No newline at end of file