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xarm_bringup package from robo_imitate repoxarm_bringup |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | End-to-end robot control based on generative diffusion model |
| Checkout URI | https://github.com/marijagolubovic/robo_imitate.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-26 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | data-generation robot-control imitation-learning robot-learning ros2 end-to-end-machine-learning diffusion-model robot-teleoperation isaac-sim ros2-control |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- lukic
Authors
No additional authors.
xarm_bringup
Overview
The xarm_bringup package provides tools and scripts for simulating and controlling the xArm robot in both simulated and real environments. All needed scripts you launch with this command:
ros2 launch xarm_bringup lite6_cartesian_launch.py rviz:=false sim:=false
For the simulation environment, set sim to true. When rviz is set to true, the RViz tool will automatically launch, allowing for robot visualization and manual control through the GUI.
Enable manual mode
If you want to physically move the robot joints, you need to follow these rules.
-
Run commands:
## Set mode need to call twice time
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"
ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 "{data: 0}"
To return in normal mode run commands:
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 0}"
ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 "{data: 0}"
- After this step need to run launch file again
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged xarm_bringup at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS packages for robotic products from UFACTORY |
| Checkout URI | https://github.com/xArm-Developer/xarm_ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-17 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics ros |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The xarm_bringup package
Additional Links
No additional links.
Maintainers
- Jason Peng
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- launch/xarm6_group_server.launch
-
- group_name [default: ] — namespace as a group
- robot_ip
- report_type [default: normal]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- show_rviz [default: false]
- add_gripper [default: false]
- launch/lite6_server.launch
-
- robot_ip
- report_type [default: normal]
- ns [default: ufactory]
- use_moveit [default: false]
- velocity_control [default: false]
- enforce_limits [default: true]
- show_rviz [default: false]
- add_gripper [default: false]
- launch/dual_xarm6_server.launch
-
- robot_ip_1
- robot_ip_2
- report_type_1 [default: normal]
- report_type_2 [default: normal]
- hw_ns_1 [default: L_xarm6]
- hw_ns_2 [default: R_xarm6]
- enforce_limits_1 [default: true]
- enforce_limits_2 [default: true]
- baud_checkset_1 [default: true]
- baud_checkset_2 [default: true]
- default_gripper_baud_1 [default: 2000000]
- default_gripper_baud_2 [default: 2000000]
- show_rviz_1 [default: false]
- show_rviz_2 [default: false]
- add_gripper_1 [default: false]
- add_gripper_2 [default: false]
- use_moveit [default: false]
- launch/xarm_robot.launch
-
- robot_ip — User must properly specify robot ip address
- report_type [default: normal]
- publish_tf [default: true]
- hw_ns [default: xarm]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- launch/xarm7_server.launch
-
- robot_ip
- report_type [default: normal]
- ns [default: xarm]
- use_moveit [default: false]
- use_gripper_action [default: false]
- velocity_control [default: false]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- show_rviz [default: false]
- add_gripper [default: false]
- launch/xarm6_server.launch
-
- robot_ip
- report_type [default: normal]
- ns [default: xarm]
- use_moveit [default: false]
- use_gripper_action [default: false]
- velocity_control [default: false]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- show_rviz [default: false]
- add_gripper [default: false]
- launch/uf850_server.launch
-
- robot_ip
- report_type [default: normal]
- ns [default: ufactory]
- use_moveit [default: false]
- use_gripper_action [default: false]
- velocity_control [default: false]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- show_rviz [default: false]
- add_gripper [default: false]
- launch/xarm_driver_common.launch
-
- robot_ip
- report_type [default: normal]
- dof [default: 7]
- robot_type [default: xarm]
- use_moveit [default: false]
- namespace [default: xarm]
- velocity_control [default: false]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- publish_tf [default: false]
- show_rviz [default: false]
- add_gripper [default: false]
- prefix [default: ]
- launch/xarm5_server.launch
-
- robot_ip
- report_type [default: normal]
- ns [default: xarm]
- use_moveit [default: false]
- use_gripper_action [default: false]
- velocity_control [default: false]
- enforce_limits [default: true]
- baud_checkset [default: true]
- default_gripper_baud [default: 2000000]
- show_rviz [default: false]
- add_gripper [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged xarm_bringup at Robotics Stack Exchange
No version for distro melodic. Known supported distros are highlighted in the buttons above.