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website: use openarm_can package for Teleop #283

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website: use openarm_can package for Teleop
daipom Oct 10, 2025
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daipom Oct 10, 2025
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23 changes: 13 additions & 10 deletions website/docs/teleop/leader-follower/setup-guide.md
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Expand Up @@ -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))

---
Expand All @@ -26,12 +25,17 @@ cd openarm_teleop
### 2. Install Dependancy

```bash
sudo apt update && sudo apt install -y \
liborocos-kdl-dev \
sudo apt install -y software-properties-common
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
Expand All @@ -47,12 +51,11 @@ 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
```
/usr/libexec/openarm-can/configure_socketcan_4_arms.sh -fd
```