xArm API to control simulation

xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY

https://www.ufactory.cc/

BSD 3-Clause "New" or "Revised" License

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xArm API to control simulation #14

Open anonymouze opened 4 years ago

anonymouze commented 4 years ago

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.

penglongxiang commented 4 years ago

@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.

anonymouze commented 4 years ago

@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++) ?