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https://github.com/xArm-Developer/xarm_ros --recursive\ncd ~/xarm_ws\ncatkin_make\n```\n\n#### See also\n\n- [xarm_ros](https://github.com/xArm-Developer/xarm_ros)\n- [xarm_ros2](https://github.com/xArm-Developer/xarm_ros2)\n\n### Install `urdf-viz`\n\n```bash\ncargo install urdf-viz\n```\n\n### Install `openrr-apps`\n\n```bash\ncargo install --git https://github.com/openrr/openrr.git\n```\n\n### Setup URDF file\n\nClone this repository.\n\n```bash\ngit clone https://github.com/openrr/openrr-apps-ufactory-lite6\ncd openrr-apps-ufactory-lite6\n```\n\n## urdf-viz\n\nSimulate on `urdf-viz`.\n\n### openrr_apps_joint_position_sender\n\n```bash\nurdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro \u0026\n```\n\n```bash\nopenrr_apps_joint_position_sender --config-path ./config/robot_client_config_for_urdf_viz.toml\n```\n\n### openrr_apps_robot_teleop\n\n```bash\nurdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro \u0026\n```\n\n```bash\nopenrr_apps_robot_teleop --config-path ./config/teleop_config_for_urdf_viz.toml\n```\n\n## ROS\n\nRun a real robot in `ROS`.\n\n```bash\nroslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.1.xxx\n```\n\n```bash\nopenrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros.toml\n```\n\n### ROS2\n\n#### Setup\n\n```bash\nros2 launch xarm_moveit_config lite6_moveit_fake.launch.py\n```\n\n```bash\nros2 param get /controller_manager robot_description \u003e lite6_robot.urdf\n```\n\n#### Run\n\n```bash\nros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.xxx\n```\n\n```bash\nopenrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros2.toml\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopenrr%2Fopenrr-apps-ufactory-lite6","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fopenrr%2Fopenrr-apps-ufactory-lite6","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopenrr%2Fopenrr-apps-ufactory-lite6/lists"}