Dwen

@Leopold-Klotz Can you provide a complete launch script so I can try it? Or try the launch script we provide to see if this error is reported.

@mcres Sorry for causing you trouble. The use of `uf_robot_hardware/UFRobotFakeSystemHardware` was decided because the early development function was not stable. Sorry, I did not follow up with ros2_control in time....

Hi, @HoneyMack This is indeed the case, because the mechanical arm and the gripper do not maintain communication all the time. At present, only when the gripper action of moveit...

@HoneyMack Sorry for the late reply. We did not provide topics related to the position of the gripper, but only configured GripperCommand to control the movement of the gripper when...

@DailyNir There is no way to set the initial point through configuration without modifying the code to support it. If your initial point is fixed, you can temporarily modify the...

@Tn-333 Sorry, this `xarm_simple_planner_test` routine only supports real robotic arms. Virtual robotic arms can directly call the corresponding services through `rosservice call`. In fact, `xarm_simple_planner_test` also calls some services, but...

@Tn-333 As you used before, you started `xarm_planner_rviz_sim.launch`. This will not be connected to the real robot arm. However, `xarm_simple_planner_test` does not apply to `xarm_planner_rviz_sim.launch`. You can simply modify the...

@nitish3693 Different functions may require different ports, and the ports that may be used in ROS are listed here `502/503/30001/30002/30003`

@vncprado Thank you very much for your support and suggestions, but the structure of the gripper of Lite6 is different from that of xarm, and it does not support moveit...

@vncprado In addition, cv2.boxPoints is only available in opencv3.0. It was cv2.cv.BoxPoints before. Here it is judged according to the python version. Later we will decide which function to use...