https://github.com/ai4ce/xarm_ros2

This package is the official xarm ROS2 package with modifications from AI4CE lab at NYU
https://github.com/ai4ce/xarm_ros2

robotics ros2 teleoperation ufactory xarm

Last synced: 19 days ago
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This package is the official xarm ROS2 package with modifications from AI4CE lab at NYU

• Host: GitHub
• URL: https://github.com/ai4ce/xarm_ros2
• Owner: ai4ce
• Created: 2024-07-31T01:58:33.000Z (6 months ago)
• Default Branch: humble
• Last Pushed: 2024-09-11T00:46:23.000Z (5 months ago)
• Last Synced: 2024-09-12T01:47:00.280Z (5 months ago)
• Topics: robotics, ros2, teleoperation, ufactory, xarm
• Language: Python
• Homepage:
• Size: 13.6 MB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: ReadMe.md

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README

        
This is directly modified from [UFACTORY's official xArm documentation](https://github.com/xArm-Developer/xarm_ros2/tree/humble)

To use these packages, please first follow the official installation for the original ROS2 driver, and then replace the official folder of the same name using the folders here. Note that each folder inside this repo is an independent ROS2 package.

Here, I will just record some major modifications

## URDF/Visualization

- Add visualization capability for our 3D-printed GelSight mount

    - add `mount/gelsight_realsense_d405.urdf.xacro` to `xarm_description/urdf`

    - add `mount/visual/gelsight_realsense_d405.stl` to `xarm_description/meshes`

    - add relevant parameters to launch files.

## Teleoperation 

- Successfully implement joint-space and twist teleoperation.

    - add `JoyToServoPub_xArm6.cpp` to `xarm_moveit_servo/src`

    - modified relevant launch file and CMakeLists.txt.

    - all 6 joints can be controlled now. see the code for specific configuration.

    - home button to switch the twist control frame from base to EEF

- Add speed multiplier as a launch parameter to the teleoperation system.