This is directly modified from UFACTORY's official xArm documentation

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.