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ROS packages for LOBOT manipulator

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lobot_ros

ROS packages for LOBOT xArm 5 DOF manipulator.

  • OS: Ubuntu 18.04.2 LTS

  • ROS: Melodic

Dependences

Packages Summary

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.

Usage

  1. 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
  2. Clone this repository into your workspace

  3. Open and build the workspace with catkin_make

  4. Source the ./devel/setup.bash or ./devel/setup.zsh, depending on which shell you are using.

  5. For simulation, you can simply start with

    roslaunch lobot_xarm moveit_gazebo.launch
  6. 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.

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ROS packages for LOBOT manipulator

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  • C++ 50.5%
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  • C 21.5%
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