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🛠️ OpenArm Teleop - Setup Guide

This guide walks you through the steps to set up and build the openarm_teleop library.

Before proceeding, please ensure the following dependencies are satisfied:

🚀 Step 1: Clone the Teleop Repository​

Clone the openarm_teleop repository and move into the directory:

git clone https://github.com/enactic/openarm_teleop.git
cd openarm_teleop

2. Install Dependancy​

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 \
  openarm-can-utils

3. Build the teleop library​

cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build

Step 4: Initialize the CAN Network​

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:

openarm-can-configure-socketcan can0 -fd

If you have all CAN interfaces (can0 to can3) connected, you can use the following command:

openarm-can-configure-socketcan-4-arms -fd
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