Dual xArm7 MoveIt configuration package

1. Introduction
2. Preparations before using this package
3. Connecting the robot
4. Using dual_xarm7_moveit_config package

1. Introduction

This repository is MoveIt configuration package for the dual xArm 7 manipulator robot with gripper. It was initially generated with MoveIt Setup Assistant and customised for use with UFACTORY xArm 7 robot. MoveIt configuration packages dual_xarm6_moveit_config and xarm7_gripper_moveit_config were taken as a reference.

2. Preparations before using this package

2.1. Get 'xarm_ros'

Clone xarm_ros repository https://github.com/xArm-Developer/xarm_ros.git and go through instructions in README.md

2.2. Get 'dual_xarm7_moveit_config'

Clone dual_xarm7_moveit_config to the xarm_ros repository:

$ cd ~/catkin_ws/src/xarm_ros
$ git clone https://github.com/patsyuk03/dual_xarm7_moveit_config.git
$ cd ~/catkin_ws
$ catkin build

3. Connecting the robot

Connect two xArm 7 and PC to the WiFi router with ethernet cables (router's network should be 192.168.1.X).

4. Using dual_xarm7_moveit_config package

To run MoveIt motion planner to control the real xArm:

$ roslaunch dual_xarm7_moveit_config realMove_exec.launch robot_ip_1:=<controller box LAN IP address 1> robot_ip_2:=<controller box LAN IP address 2>

patsyuk03/dual_xarm7_moveit_config