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Published 20 hours ago • verified publisher icon xArm-Developer

xArm API to control simulation

Open anonymouze opened this issue 5 years ago • 2 comments

While we wait for my xArm to ship, I'd like to start prototyping the code to control it.

Can we use the xarm_ros and xArm-Python-SDK together to achieve it ? So we can write code with SDK functions, and observe motion in Gazebo.

anonymouze avatar Nov 10 '19 06:11 anonymouze

@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). So I guess you can simulate in ROS for reference, and get a feeling about the operational space. However if your final project will be implemented by xArm-Python-SDK, the execution may not be exactly the same with Moveit Planner results.

penglongxiang avatar Nov 11 '19 02:11 penglongxiang

@penglongxiang , thanks. Will moveit! planning be roughly similar to what a controller performs ? Also, is there a way to feed data to moveit! with the same or similar interface as is used with the SDK (either python or C++) ?

anonymouze avatar Nov 11 '19 16:11 anonymouze