Install 'mimic_joint_plugin' for xArm Gripper simulation in Gazebo

It will then be downloaded locally, as 'table' is needed for running the demo.

In Gazebo simulator, navigate through the model database for 'table' item, drag and place the 3D model inside the virtual environment.

Go through the official tutorial documents

Add xArm-with-gripper Moveit development packages.

Add demo to control dual xArm6 through Moveit.

Add xArm 6 and xArm 5 simulation/real robot control support.

Add xArm hardware interface to use ROS position_controllers/JointTrajector圜ontroller on real robot.

Add Direct control of real xArm through Moveit GUI, please use it with special care.

Add Moveit! planner support to control Gazebo virtual model and real xArm, but the two can not launch together.

Add xArm 7 description files, meshes and sample controller demos for ROS simulation and visualization.This package is still under development and improvement, tests, bug fixes and new functions are to be updated regularly in the future. Instructions below is based on xArm7, other model user can replace 'xarm7' with 'xarm6' or 'xarm5' where applicable. This repository contains the 3D models of xArm series and demo packages for ROS development and simulations.Developing and testing environment: Ubuntu 16.04 + ROS Kinetic Kame + Gazebo 9.

Gripper for windows download