![]() ![]() ![]() ![]() 5.7.1 Starting xArm by ROS service ( priority for the following operations).5.7 xarm_api/xarm_msgs (Online Planning Modes Added).When updating this package, please remember to check the submodule update as well! Contents: If developing with Moveit, it is highly recommended to use DIRECT network cable connection between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution. You MUST follow chapter 3 to install additional packages needed before any usage of xarm_ros packages. The old version robot driver can still be available in 'legacy' branch, however, it will not be updated any more. Please contact our staff to get instructions of the upgrade process. Topic " xarm_cgpio_states" has been renamed to " controller_gpio_states".Īfter using xArm C++ SDK as sub-module, the use of /xarm/set_tool_modbus service has been modified, compared with old version, the redundant ' 0x09' byte in response data has been removed!ĭue to robot communication data format change, early users (xArm shipped before June 2019) are encouraged to upgrade their controller firmware immediately to drive the robot normally in future updates as well as to use newly developed functions. For UFACTORY Lite 6 users, make sure you have followed the instructions before chapter 4.7 on this page, then switch to ReadMe for Lite6.įor kinetic users, please use the kinetic branch. ![]()
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