This repository is the ROS2 workspace for AhaRobot, organized into the following structure:
- 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
- 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
For detailed documentation, please refer to our notion site:
https://www.notion.so/aha-robot/Install-ROS-2-Workspace-1d733900bc8780ffa416e26b2d88f018
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.