Xarm 6 ROS 2 instruction?

1

Hi, I just got Ubuntu 22.04 and Ros 2 Humble installed and was wondering if there are any instructions to use the xarm with intel camera for follow or identify mode? I found the below link, but not sure how to use it.

2

Hi Butters,

You need to develop and integrate the vision modules yourself.
We only have a demo with intel realsense D435 on Ros, just for your reference.
xarm_ros/xarm_vision at master · xArm-Developer/xarm_ros · GitHub

Best,

3

Hi,

I’m looking for a guide to install the necessary packages to use an Intel RealSense D435 camera with an Xarm6 robot. I’ve been trying for days to calibrate these devices but keep running into compatibility issues.

Here are my questions:

  • Which version of ROS should I use, ROS 1 or ROS 2?
  • Is ROS 2 Humble a good option?
  • What version of Ubuntu do I need, and with which kernel?
  • Which version of the Intel RealSense SDK is required?

I would greatly appreciate guidance from someone experienced with this process, as I’ve tried multiple installation methods but always encounter compatibility problems that prevent me from completing the calibration.

Thank you very much!

Best regards,
Lucia

4

Hi Lucia,

We use ROS1, ubuntu20, and the latest Realsense SDK is acceptable.
Can you take a screenshot of the error?

Best regards,
Minna

5

Hello Minna,

I cannot use ROS1 because Realsense hasn’t updated their SDK for ROS1 since 2022, and that old sdk does not support the camera D435if. Realsense reached out to UFACTORY’s ROS2 support for xArm and found that they added support for ROS2 Humble in September 2022 and have updated it regularly since then. How can I calibrate the robot using ROS2? How should I install ROS2 with Humble?

Thank you, best regards,
Lucia

6

Additionally, according to Intel RealSense, the latest RealSense SDK is not compatible with ROS1, as it has not been updated to support it. However, if you have managed to make it work, could you kindly provide more details? Specifically:

  • Which ROS1 version are you using?
  • What operating system and kernel version are you running?
  • Which RealSense wrapper did you use to integrate the camera?

Any further information would be greatly appreciated. Thank you!

7

Hi Lucia,

Honestly, we haven’t tried D435if, we use D435i.
For D435i, we only test it on ROS1, not ROS2. We use Ubuntu20.04, Noetic, realsense wrapper: ros-noetic-librealsense2 2.50.1.

Please provide the specific problem, and take a screenshot of the error, we can have a look, but we don’t have D435if on hand, the support is limited, thanks for your understanding.
You mentioned you use Windows11, which may cause more compatibility issues.

Best regards,
Minna

8

Dear Team, have been facing pybind issue during colcon build process for this xarm_api package(trying to import xarm_api.xarm_ros_client in a ros pkg). We have been using ROS2 humble. help me out in solving this. else let me know any other possibility to work on.

9

Hi Mukesh,

Please take a screenshot of the error page, what is the error message?

Best regards,
Minna