penglongxiang

Hi @micahpearlman we have made some modifications on xarm urdf and moveit configuration srdf file, when running 'roslaunch xarm6_gripper_moveit_config demo.launch', the marker in rviz now appears at gripper end point...

We have not yet tested on ROS noetic, maybe in the near future. Currently you can give it a try on the simulation part to see if it functions well.

@JuliusSustarevas I've not received PRs for above mentioned points. So far as I have tested with Noetic, this repo can still work directly, although with some warnings of those deprecated...

Now there is a more convenient way to attach realsense D435i with camera stand to xArm model. Refer to: https://github.com/xArm-Developer/xarm_ros#74-adding-realsense-d435i-model-to-simulated-xarm

Please see the reply in [here](https://github.com/xArm-Developer/xarm_ros/issues/20#issuecomment-634482450)

hi @jungladicitta xArm gripper simulation is better supported now, please check the latest commit. Planning group "xarm_gripper" can be controlled in Moveit-Gazebo simulation. You can define more group_states ("open"/"close" already...

@anonymouze actually in xarm_ros you will control the xArm under Moveit! planning algorithm, which is not the same as the one used by our controller (called by xArm python API)....

Our ROS1 packages here are targeted and tested under 'catkin' build system. Building with colcon may not work, CMakeLists are not the same. May I ask the reason for using...

Thank you for your feedback. We will look into this issue asap.

Hi @tfa27, not exactly sure about your question, if you are looking for ros velocity controller interface, please refer to issue #78, which implements ros controller type: velocity_controllers/JointTrajectoryController.