{"id":15672958,"url":"https://github.com/andrewda/learm_ros2","last_synced_at":"2025-05-06T22:10:26.412Z","repository":{"id":61541498,"uuid":"491700875","full_name":"andrewda/learm_ros2","owner":"andrewda","description":"A collection of ROS 2 packages for controlling the Hiwonder LeArm.","archived":false,"fork":false,"pushed_at":"2022-05-12T23:55:59.000Z","size":8551,"stargazers_count":20,"open_issues_count":1,"forks_count":4,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-02-25T18:45:21.888Z","etag":null,"topics":["hiwonder","learm","ros2","ros2-galactic","xarm"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/andrewda.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2022-05-12T23:52:23.000Z","updated_at":"2025-02-07T08:21:39.000Z","dependencies_parsed_at":"2022-10-19T06:45:29.859Z","dependency_job_id":null,"html_url":"https://github.com/andrewda/learm_ros2","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/andrewda%2Flearm_ros2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/andrewda%2Flearm_ros2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/andrewda%2Flearm_ros2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/andrewda%2Flearm_ros2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/andrewda","download_url":"https://codeload.github.com/andrewda/learm_ros2/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":242833408,"owners_count":20192750,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["hiwonder","learm","ros2","ros2-galactic","xarm"],"created_at":"2024-10-03T15:34:16.351Z","updated_at":"2025-03-10T10:31:34.517Z","avatar_url":"https://github.com/andrewda.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# learm_ros2\n\nA collection of ROS 2 packages for controlling the\n[Hiwonder LeArm](https://www.hiwonder.com/store/learn/2.html).\n\n## Requirements\n\n```bash\n$ sudo apt-get install libusb-1.0-0-dev libudev-dev\n$ pip install --upgrade setuptools\n$ pip install hidapi\n$ pip install xarm # see notes below\n```\n\nI ran into issues with the `xarm` package published on pip (specifically, my arm\nhas servo values from 500-2500 instead of the 0-1000 that the package expects).\nIf these issues apply to you as well, install my forked version:\n\n```bash\n$ pip uninstall xarm\n$ pip install git+https://github.com/andrewda/xarmservocontroller.git#subdirectory=Python\n```\n\nAdditionally, if you encounter errors while trying to connect to the arm, try\nadding the following udev rule to `/etc/udev/rules.d/99-xarm.rules` or\nsimilar:\n\n```udev\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"0483\", ATTR{idProduct}==\"5750\", MODE=\"0660\", GROUP=\"plugdev\"\n```\n\nThen reload the rules with:\n\n```bash\n$ sudo udevadm control --reload-rules \u0026\u0026 udevadm trigger\n```\n\nThis rule will allow users in the `plugdev` group to access the arm controller.\n\n## Packages\n\n| Name | Description |\n|------|-------------|\n| learm_ros2 | A simple follower that commands arm servo positions from joint states published on the `joint_states` topic. |\n| learm_ros2_description | LeArm description files, including arm meshes and URDF files. |\n| learm_ros2_moveit_config | MoveIt config files (WIP). |\n\n## Running\n\nMake sure that the LeArm is plugged into a power source, turned on, and\nconnected over USB. Then start the follower:\n\n```bash\n$ ros2 launch learm_ros2 follower.launch.py\n```\n\nNext, if you want to manually control the arm for testing, start RViz and the\njoint publisher:\n\n```bash\n$ ros2 launch learm_ros2 run.launch.py\n```\n\n![RViz Screenshot](pictures/rviz.png)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandrewda%2Flearm_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fandrewda%2Flearm_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandrewda%2Flearm_ros2/lists"}