ROS packages for LOBOT xArm 5 DOF manipulator.

• OS: Ubuntu 18.04.2 LTS

• ROS: Melodic

• moveit

• ros_control

• libudev-dev

Source files of some simple demos for xArm.

Contains the Unified Robot Description Format (URDF) files of xArm.

Gazebo simulation configurations.

Provides USB-HID driver of xArm and hardware interface for ros_control.

An implementation of inverse kinematics solution for 5 DOF manipulator.

Kinematics plugin for MoveIt.

Generated by MoveIt Setup Assistant.

Contains launch files to start simulation or real robot.

1. Install all dependences

   sudo apt-get install ros-melodic-moveit ros-melodic-moveit-visual-tools
   sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers
   sudo apt-get install libudev-dev

2. Clone this repository into your workspace

3. Open and build the workspace with catkin_make

4. Source the ./devel/setup.bash or ./devel/setup.zsh, depending on which shell you are using.

5. For simulation, you can simply start with

   roslaunch lobot_xarm moveit_gazebo.launch

6. For real robot, you need to get the USB device permission first.

   sudo chmod 666 /dev/hidraw*

   It will be easier to recognize which device is with signal11/hidapi.