rqtqp/ros2_borunte_0707a

ros2_borunte_0707A is a ROS 2 software workspace, ROS 2 being a common framework for programming robots, built specifically to control a Borunte BRTIRUS0707A six axis robotic arm through its HC1 controller. It packages together a 3D model of the arm, a motion planning configuration, and a custom driver that talks to the real controller hardware over a JSON based network connection on a specific port. The workspace is organized into three parts. One package holds the arm's physical description, meaning its 3D shape and joint limits taken from the manufacturer's own CAD files. A second package configures MoveIt 2, the motion planning system that figures out how the arm should move to reach a target position, tuned to drive the real hardware. The third package is the actual bridge software that talks to the physical HC1 controller: it reports the arm's live joint positions and status back to ROS 2, and turns motion commands from ROS 2 into the specific instructions the controller understands, running in a safe dry run mode by default so nothing moves unless explicitly enabled. According to the README, this bridge has been tested against the real, physical arm and works end to end: live telemetry, status reporting, and motion commands sent from ROS 2's planning tool actually move the arm, with a safety gate and configurable soft limits in place. The bridge can send a planned path as one smooth combined motion, as separate steps that pause between each one, or as a continuously streamed path with no pauses at all, and after each move it waits to confirm the arm actually reached its target and corrects for any small final positioning error. Before the arm will accept any motion commands, its teach pendant has to be running a specific program that puts the controller into a remote command listening mode, a one time setup step described in a companion project the README links to. The driver also needs a direct wired network connection to the controller rather than being routed across other networks.