Moveit

Some quick ways to perform manipulations for the xARM6 are either via the GUI, Studio, or the Moveit Package.

xARM6-ROS

For the xARM6 ROS drivers gui please refer to the Software Packages section. To run the native xARM6 moveit, you may follow the xarm_ros README.md in xARM6 ROS SDK.

xARM6 Moveit

To run Moveit! motion planner to control the real xArm with xArm Gripper attached: First make sure the xArm and the controller box are powered on, then execute:

roslaunch xarm6_gripper_moveit_config realMove_exec.launch robot_ip:=192.168.1.XXX
_images/xarm6_moveit_sample.gif

For planning trajectories via Moveit in python or c++, you may refer to the Moveit Tutorials. These tutorials will provide the basic knowledge to develop and implement your own motion plans.

xARM6-Utilities

To operate the xARM6 from other means then ROS, the python and c++ sdks are available in the utils folder in the provided hyperlinks in the quick start. Moreover, direct control of the xARM6 is available via the app. To access the app, navigate into the /utils folder and run the command:

./xArmStudio-linux-0.6.0.AppImage

This should launch the xARM6. Connect to the IP address of 192.168.1.XXX and you should have now complete access to the arm. Also the app has a built-in plugin to interface with robotiq gripper available in the control panels.