ROS packages for LOBOT xArm 5 DOF manipulator.
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OS: Ubuntu 18.04.2 LTS
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ROS: Melodic
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libudev-dev
Source files of some simple demos for xArm.
Contains the Unified Robot Description Format (URDF) files of xArm.
Gazebo simulation configurations.
Provides USB-HID driver of xArm and hardware interface for ros_control.
lobot_ik (Deprecated)
An implementation of inverse kinematics solution for 5 DOF manipulator.
Kinematics plugin for MoveIt.
Generated by MoveIt Setup Assistant.
Contains launch files to start simulation or real robot.
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Install all dependences
sudo apt-get install ros-melodic-moveit ros-melodic-moveit-visual-tools sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers sudo apt-get install libudev-dev
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Clone this repository into your workspace
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Open and build the workspace with
catkin_make
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Source the
./devel/setup.bash
or./devel/setup.zsh
, depending on which shell you are using. -
For simulation, you can simply start with
roslaunch lobot_xarm moveit_gazebo.launch
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For real robot, you need to get the USB device permission first.
sudo chmod 666 /dev/hidraw*
It will be easier to recognize which device is with signal11/hidapi.