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xarm_bringup package from robo_imitate repo

xarm_bringup

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/marijagolubovic/robo_imitate.git
VCS Type git
VCS Version main
Last Updated 2024-12-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
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.

![Lite6 Physical Teleoperation](../media/rviz.gif)

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

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

Checkout URI https://github.com/xArm-Developer/xarm_ros.git
VCS Type git
VCS Version master
Last Updated 2025-03-21
Dev Status DEVELOPED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
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.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

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.