README.md

xarm_bringup

Overview

The xarm_bringup package provides tools and scripts for simulating and controlling the xArm robot in both simulated and real environments. All needed scripts you launch with this command:

    ros2 launch xarm_bringup lite6_cartesian_launch.py rviz:=false sim:=false

For the simulation environment, set sim to true. When rviz is set to true, the RViz tool will automatically launch, allowing for robot visualization and manual control through the GUI.

Enable manual mode

If you want to physically move the robot joints, you need to follow these rules.

• Run commands:

  Set mode need to call twice time

  ```sh
     ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"
  ```
  
  ```sh
     ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"
  ```
  
  ```sh
     ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 "{data: 0}"
  ```
  

  To return in normal mode run commands:

  ```sh
     ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 0}"
  ```
  
  ```sh
     ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 "{data: 0}"
  ```
  - After this step need to run launch file again