https://github.com/openrr/openrr-apps-ufactory-lite6
Controll UFACTORY Lite6 using openrr-apps
https://github.com/openrr/openrr-apps-ufactory-lite6
Last synced: 4 months ago
JSON representation
Controll UFACTORY Lite6 using openrr-apps
- Host: GitHub
- URL: https://github.com/openrr/openrr-apps-ufactory-lite6
- Owner: openrr
- Created: 2022-10-28T08:38:52.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-01-22T04:48:17.000Z (over 3 years ago)
- Last Synced: 2025-10-08T12:35:31.476Z (9 months ago)
- Size: 1.83 MB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# OpenRR Apps UFACTORY Lite 6
## Installation
### Install `ROS` package
Please enable `ROS`
```bash
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](https://github.com/xArm-Developer/xarm_ros)
- [xarm_ros2](https://github.com/xArm-Developer/xarm_ros2)
### Install `urdf-viz`
```bash
cargo install urdf-viz
```
### Install `openrr-apps`
```bash
cargo install --git https://github.com/openrr/openrr.git
```
### Setup URDF file
Clone this repository.
```bash
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
```bash
urdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro &
```
```bash
openrr_apps_joint_position_sender --config-path ./config/robot_client_config_for_urdf_viz.toml
```
### openrr_apps_robot_teleop
```bash
urdf-viz $(rospack find xarm_description)/urdf/lite6_robot.urdf.xacro &
```
```bash
openrr_apps_robot_teleop --config-path ./config/teleop_config_for_urdf_viz.toml
```
## ROS
Run a real robot in `ROS`.
```bash
roslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.1.xxx
```
```bash
openrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros.toml
```
### ROS2
#### Setup
```bash
ros2 launch xarm_moveit_config lite6_moveit_fake.launch.py
```
```bash
ros2 param get /controller_manager robot_description > lite6_robot.urdf
```
#### Run
```bash
ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.xxx
```
```bash
openrr_apps_robot_teleop --config-path ./config/teleop_config_for_ros2.toml
```