The Hiwonder xArm 1s (found here https://www.hiwonder.com/products/xarm-1s?variant=32436121894999) is a 6 D.O.F Aluminium 0.9 kg robotic arm with Bluetooth and USB communication capabilities.
This has been tested for Ubuntu or Raspberry Pi running on Ubuntu OS users
git clone https://github.com/KaburaJ/hiwonder_xArm_1s.git
Something to note is that if you encounter errors while trying to connect to the arm, try adding the following udev rule to /etc/udev/rules.d/99-xarm.rules using the command sudo nano /etc/udev/rules.d/99-xarm.rules:
SUBSYSTEM=="usb", ATTR{idVendor}=="0483", ATTR{idProduct}=="5750", MODE="0660", GROUP="plugdev"
Then reload the rules with:
sudo udevadm control --reload-rules
sudo udevadm trigger
Where you choose to add the rules above, please run the command below to add your root to the plugdev group.
sudo usermod -aG plugdev $USER
These steps will allow users in the plugdev group to access the arm controller.
| Name | Description |
|---|---|
| learm_ros2 | A simple follower that commands arm servo positions from joint states published on the joint_states topic. |
| learm_ros2_description | LeArm description files, including arm meshes and URDF files. |
| learm_ros2_moveit_config | MoveIt config files (WIP). |
- Run
sudo -son your terminal. The assumption is that you've already installed ROS2. - Run to install the required packages:
sudo apt-get install libusb-1.0-0-dev libudev-dev
pip install --upgrade setuptools
pip install hidapi
pip install xarm
- Change directories to the location of the project you cloned above.
- Run
source /opt/ros/$DISTRO/setup.bash. Remember to always do this whenever you open a new terminal. - Run
colcon build - Next,
source install/setup.bash - And,
ros2 launch learm_ros2 follower.launch.py. Make sure the robotic arm is plugged into a power source, turned on, and connected over USB. Then start this follower launch file.
In another terminal, repeat steps 1, 2 and 4 respectively before running:
ros2 launch learm_ros2 follower.launch.py
Use the joint state publisher interface to move the robot on rviz2 as well as the physical. You should get the response as in the video below.
Accessible here https://youtu.be/bHPxp2J4lWQ?si=cHmpUlG4LA_Bw6Jf