xArm-Developer/xarm_ros

What it solves

This project provides the necessary software infrastructure to control, simulate, and develop for the xArm series of robotic arms (including xArm 5, 6, 7, Lite 6, and UFACTORY850). It bridges the gap between the physical hardware and the Robot Operating System (ROS), allowing developers to test motions in simulation before deploying them to real robots.

How it works

The repository implements a suite of ROS packages that handle different aspects of robot operation:

• Hardware Interface: Connects ROS to the physical robot controller via a C++ SDK, enabling direct control of joints and Cartesian space.
• Simulation: Uses Gazebo for physics-based simulation and RViz for 3D visualization of the robot's state.
• Motion Planning: Integrates with MoveIt to provide collision-aware trajectory planning and execution.
• API & Messaging: Provides a set of ROS services and topics for joint/Cartesian commands, I/O operations, and status feedback.
• Vision Integration: Includes demos for hand-eye calibration and vision-guided grasping using cameras like the RealSense D435i.

Who it’s for

• Robotics developers building applications for xArm hardware.
• Researchers using robotic arms for simulation and prototyping.
• Engineers integrating vision systems with robotic manipulators.

Highlights

• Multi-Model Support: Compatible with xArm 5, 6, 7, Lite 6, and UFACTORY850.
• End-Effector Integration: Built-in support for xArm Grippers and Vacuum Grippers, including collision detection in MoveIt.
• Flexible Control: Supports both position and velocity control modes.
• Interactive Control: Includes xarm_moveit_servo for real-time control via Xbox controllers, SpaceMouse, or keyboards.
• Vision Demos: Ready-to-use examples for color cube grasping and hand-eye calibration.