### This repo is for the single arm harvesing robot

Modular design is considered in this repo.

Several ros2 packages are list:

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| 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. | - |
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