openrr / openrr-apps-arm

Robotic arm application by OpenRR

Robotic Arm Controller Application by OpenRR

Overview

This project is to use a robotic arm using OpenRR without openrr-apps.

Usage

cargo run --bin [uviz_arm / ros_arm / ros2_arm / arm]

Example (Real robot, Ufactory Lite6)

ROS

Launch ROS

roslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.x.xxx

Build and run the rust project

cargo run --bin ros_arm --features ros  -- --urdf-path "lite6.urdf" --end-link-name "joint_eef"

ROS2

Launch ROS2

ros2 launch xarm_moveit_servo xarm_moveit_servo_realmove.launch.py robot_ip:=192.168.x.xxx dof:=6 robot_type:=lite

Build and run the rust project

cargo run --bin ros2_arm --features ros2 -- --urdf-path "lite6.urdf" --end-link-name "joint_eef"

Real robot