ROS2 Workspace for AhaRobot

Repository Contents

This repository is the ROS2 workspace for AhaRobot, organized into the following structure:

ROS2 Packages (src/)

• astra_controller: The main part of the ROS workspace. This code communicates with the Firmware, routes ROS messages, performs inverse kinematics, and launches Web-based teleoperation
• astra_description: Robot URDF models and visualization configurations
• astra_controller_interfaces: Custom ROS message definitions
• astra_moveit_config: MoveIt configuration for motion planning (deprecated)
• usb_cam: Fork of usb_cam

Non-ROS Components (non_ros_src/)

• astra_teleop: Core of RoboPilot teleoperation, including Python version of marker detection and Perspective-n-Point (PnP) pose computation
• astra_teleop_web: RoboPilot web-based teleoperation interface, WebAssembly version of marker detection
• ModernRobotics: IK solver
• mr_urdf_loader: Loading URDFs
• lerobot: Learning-based algorithms
• odrive-can: ODrive CAN protocol library
• urchin: Fork of urdfpy
• pyribbit: Fork of pyrender

How-to-use

For detailed documentation, please refer to our notion site:

https://www.notion.so/aha-robot/Install-ROS-2-Workspace-1d733900bc8780ffa416e26b2d88f018

License

This project is licensed under the GNU General Public License v3.0 (GPL-3.0) with additional restrictions.

This means:

• ✅ You are free to use, modify and distribute the source code
• ✅ You must make your modifications available under the same license
• ✅ You must state changes made to the code
• ✅ You must include the original copyright notice
• ❌ You may not use the material for commercial purposes
• ❌ Modifications must also prohibit commercial use

IMPORTANT: This project explicitly prohibits ANY commercial use, including but not limited to selling products based on this project.

See the LICENSE file for the full license text.