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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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Simulate Robot Mode 7 in Gazebo #231

Closed nils-ingelhag closed 1 week ago

nils-ingelhag commented 2 weeks ago

Hi,

Is there a way to simulate the different operating modes in Gazebo? In particular I'm interested in running the Lite6 robot in mode 7 for real-time control.

Best, Nils

penglongxiang commented 1 week ago

Hi @nils-ingelhag, currently there is no way to simulate our mode 7 in gazebo because it was implemented by our proprietary planner and mode management system, whereas Gazebo now uses ros-controllers with trajectory command from third party/self-implemented planners like Moveit.

nils-ingelhag commented 1 week ago

I see, thanks for your reply!