From 25c9dbc5c495f4b1e0eb57fe9ecd89ea118b1894 Mon Sep 17 00:00:00 2001 From: Daijiro Fukuda Date: Fri, 10 Oct 2025 17:13:16 +0900 Subject: [PATCH 1/2] website: use openarm_can package for Teleop --- .../docs/teleop/leader-follower/setup-guide.md | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/website/docs/teleop/leader-follower/setup-guide.md b/website/docs/teleop/leader-follower/setup-guide.md index 3712098..da5aabf 100644 --- a/website/docs/teleop/leader-follower/setup-guide.md +++ b/website/docs/teleop/leader-follower/setup-guide.md @@ -9,7 +9,6 @@ This guide walks you through the steps to set up and build the `openarm_teleop` Before proceeding, please ensure the following dependencies are satisfied: -- ✅ `openarm_can` library (see [OpenArm CAN library](/software/can)) - ✅ `openarm_description` library (see [OpenArm Description](/software/description)) --- @@ -26,7 +25,10 @@ cd openarm_teleop ### 2. Install Dependancy ```bash +sudo apt install -y software-properties-common +sudo add-apt-repository ppa:openarm/main sudo apt update && sudo apt install -y \ + openarm-can-utils \ liborocos-kdl-dev \ libeigen3-dev \ liburdfdom-dev \ @@ -47,12 +49,11 @@ Each arm requires a dedicated CAN interface (1 arm = 1 CAN port). To initialize a CAN interface (e.g., `can0`) in CAN FD mode, run: ```bash -cd openarm_can -./setup/configure_socketcan.sh can0 -fd +/usr/libexec/openarm-can/configure_socketcan.sh can0 -fd ``` -If you have all CAN interfaces (can0 to can3) connected, you can use the following command +If you have all CAN interfaces (can0 to can3) connected, you can use the following command: + ```bash -cd openarm_can -./setup/configure_socketcan_4_arms.sh -fd -``` \ No newline at end of file +/usr/libexec/openarm-can/configure_socketcan_4_arms.sh -fd +``` From e06c2e574549aaa99cec7dd2fcd568b09457963d Mon Sep 17 00:00:00 2001 From: Daijiro Fukuda Date: Fri, 10 Oct 2025 17:25:36 +0900 Subject: [PATCH 2/2] Apply feedbacks Co-authored-by: Sutou Kouhei --- website/docs/teleop/leader-follower/setup-guide.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/website/docs/teleop/leader-follower/setup-guide.md b/website/docs/teleop/leader-follower/setup-guide.md index da5aabf..9f58666 100644 --- a/website/docs/teleop/leader-follower/setup-guide.md +++ b/website/docs/teleop/leader-follower/setup-guide.md @@ -26,14 +26,16 @@ cd openarm_teleop ```bash sudo apt install -y software-properties-common -sudo add-apt-repository ppa:openarm/main -sudo apt update && sudo apt install -y \ - openarm-can-utils \ - liborocos-kdl-dev \ +sudo add-apt-repository -y ppa:openarm/main +sudo apt update +sudo apt install -y \ libeigen3-dev \ + libopenarm-can-dev \ + liborocos-kdl-dev \ liburdfdom-dev \ liburdfdom-headers-dev \ - libyaml-cpp-dev + libyaml-cpp-dev \ + openarm-can-utils ``` ### 3. Build the teleop library