xarm_api c++ example ros2

[Murali25111993]

Hello,

I am trying to write equivalent ros2 c++ code for the findobj_grasp_xarm_api.cpp.

I have attached the code here. findobj_grasp_xarm_api.txt

However , when I try to run the code, :

1. ros2 launch xarm_api xarm6_driver.launch.py robot_ip:= 192.168.1.233

2. ros2 run xarm_vision xarm_simple_planner

my robot is not moving.

Kindly check the code and provide solution.

Thanks

[Murali25111993]

I have managed to solve the issue. However I cannot able to set the vacuum gripper

terminal 1: ros2 launch xarm_api xarm6_driver.launch.py robot_ip:= 192.168.1.233 [add_vacuum_gripper:=true]

I could not able to find ros2 service list and ros2 node list for vacuum gripper

I have attached screenshot

[penglongxiang]

Please follow the instruction here of "service" part. Create your xarm_api/config/xarm_user_params.yaml file (in case xarm_params.yaml is overwritten in future repo update) and enable the interested services, in your case it would be setting "set_vacuum_gripper" to be true. This mechanism is different from our ros1 repository.

[Murali25111993]

Thanks, This sorted my problem.

This issue can be closed now.