{"id":50429903,"url":"https://github.com/enactic/dora-openarm-ros2","last_synced_at":"2026-05-31T13:30:28.864Z","repository":{"id":360154115,"uuid":"1239607052","full_name":"enactic/dora-openarm-ros2","owner":"enactic","description":"dora-rs node that forwards OpenArm data in dora-rs dataflow to ROS2","archived":false,"fork":false,"pushed_at":"2026-05-25T07:32:16.000Z","size":16,"stargazers_count":0,"open_issues_count":0,"forks_count":3,"subscribers_count":2,"default_branch":"main","last_synced_at":"2026-05-25T09:23:54.453Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/enactic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-05-15T08:59:42.000Z","updated_at":"2026-05-25T07:32:24.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/enactic/dora-openarm-ros2","commit_stats":null,"previous_names":["enactic/dora-openarm-ros2"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/enactic/dora-openarm-ros2","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-ros2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-ros2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-ros2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-ros2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/enactic","download_url":"https://codeload.github.com/enactic/dora-openarm-ros2/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm-ros2/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":33733754,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-05-31T02:00:06.040Z","response_time":95,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-05-31T13:30:28.167Z","updated_at":"2026-05-31T13:30:28.859Z","avatar_url":"https://github.com/enactic.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# dora-openarm-ros2\n\nA [Dora](https://dora-rs.ai/) node that translates OpenArm Dora dataflow messages into [ROS 2](https://www.ros.org/) topics, enabling integration with the ROS 2 ecosystem.\n\nJoint commands from the Dora graph are forwarded to the appropriate ROS 2 controllers, and camera images are published as compressed image topics. If you want to record a dataset, simply run `ros2 bag record` alongside this node to capture all topics.\n\n## Usage\n\nUse this node from a dora-rs dataflow configuration. For a full configuration\nexample, see\n[enactic/dora-openarm-data-collection](https://github.com/enactic/dora-openarm-data-collection).\n\n```yaml\nnodes:\n  # ...\n  - id: dora-to-ros2\n    build: pip install dora-openarm-ros2\n    path: openarm-dora-ros2\n    inputs:\n      left_position:      ik/position_left\n      right_position:     ik/position_right\n      camera_wrist_right: camera-wrist-right/image\n      camera_wrist_left:  camera-wrist-left/image\n      camera_head_left:   camera-head-stereo-splitter/image_0\n      camera_head_right:  camera-head-stereo-splitter/image_1\n  # ...\n```\n\n### Inputs\n\n| Input | Description |\n| --- | --- |\n| `left_position` | Left arm joint positions and gripper as a `float64[8]` array (7 joints + 1 gripper). |\n| `right_position` | Right arm joint positions and gripper as a `float64[8]` array (7 joints + 1 gripper). |\n| `camera_wrist_right` | JPEG-encoded image from the right wrist camera as a `uint8[]` array. |\n| `camera_wrist_left` | JPEG-encoded image from the left wrist camera as a `uint8[]` array. |\n| `camera_head_left` | JPEG-encoded image from the left half of the head stereo camera as a `uint8[]` array. |\n| `camera_head_right` | JPEG-encoded image from the right half of the head stereo camera as a `uint8[]` array. |\n\n### ROS 2 Outputs\n\n| Topic | Type | Description |\n| --- | --- | --- |\n| `/left_joint_trajectory_controller/joint_trajectory` | `trajectory_msgs/JointTrajectory` | Left arm joint trajectory commands. |\n| `/right_joint_trajectory_controller/joint_trajectory` | `trajectory_msgs/JointTrajectory` | Right arm joint trajectory commands. |\n| `/left_gripper_controller/joint_trajectory` | `trajectory_msgs/JointTrajectory` | Left gripper trajectory commands. |\n| `/right_gripper_controller/joint_trajectory` | `trajectory_msgs/JointTrajectory` | Right gripper trajectory commands. |\n| `/camera/wrist_right/image_raw/compressed` | `sensor_msgs/CompressedImage` | Right wrist camera image. |\n| `/camera/wrist_left/image_raw/compressed` | `sensor_msgs/CompressedImage` | Left wrist camera image. |\n| `/camera/head_left/image_raw/compressed` | `sensor_msgs/CompressedImage` | Left head stereo camera image. |\n| `/camera/head_right/image_raw/compressed` | `sensor_msgs/CompressedImage` | Right head stereo camera image. |\n\n## Data Collection\n\nTo record all topics for dataset collection, run `ros2 bag record` alongside the dataflow:\n\n## License\n\nLicensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.\n\nCopyright 2026 Enactic, Inc.\n\n## Code of Conduct\n\nAll participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm-ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenactic%2Fdora-openarm-ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm-ros2/lists"}