xarm_ros2_docker

Docker image containing driver and scripts for xArm (ROS2)

Table of Contents

• About the Project
• Getting Started
  • Prerequisites
  • Installation
• Usage

About The Project

This repository is to launch xarm_ros2 inside docker container.

Getting Started

Prerequisites

• Docker

Installation

1. Clone the repo

git clone https://github.com/matsuolab/xarm_ros2_docker.git

The default ROS version is humble (22.04).

2. Build docker image

./BUILD-DOCKER-IMAGE.sh

3. Run docker container

./RUN-DOCKER-CONTAINER.sh

Usage

1. Controlling xArm by moveit.

• real arm

ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=192.168.1.117 [add_gripper:=true]