openrr / openrr-apps-ufactory-lite6

Controll UFACTORY Lite6 using openrr-apps

OpenRR Apps UFACTORY Lite 6

Installation

Install ROS package

Please enable ROS

mkdir -p ~/xarm_ws/src
cd ~/xarm_ws/src
git clone https://github.com/xArm-Developer/xarm_ros --recursive
cd ~/xarm_ws
catkin_make

See also

• xarm_ros
• xarm_ros2

Install urdf-viz

cargo install urdf-viz

Install openrr-apps

cargo install --git https://github.com/openrr/openrr.git

Setup URDF file

Clone this repository.

git clone https://github.com/openrr/openrr-apps-ufactory-lite6
cd openrr-apps-ufactory-lite6

urdf-viz

Simulate on urdf-viz.

openrr_apps_joint_position_sender

urdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro &

openrr_apps_joint_position_sender --config-path ./config/robot_client_config_for_urdf_viz.toml

openrr_apps_robot_teleop

urdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro &

openrr_apps_robot_teleop --config-path ./config/teleop_config_for_urdf_viz.toml

ROS

Run a real robot in ROS.

roslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.1.xxx

openrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros.toml

ROS2

Setup

ros2 launch xarm_moveit_config lite6_moveit_fake.launch.py

ros2 param get /controller_manager robot_description > lite6_robot.urdf

Run

ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.xxx

openrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros2.toml