Note
To use any of these packages, you must already have ROS 2 and the X-Series Arm packages installed. If you do not have these installed, follow the steps detailed in the :doc:`ROS 2 Interface Setup<ros_interface>`.
Below is a list of all ROS 2 packages meant to be used with the X-Series robotic arms sold by Trossen Robotics. Packages were tested on Ubuntu Linux 20.04 and 22.04 using ROS 2 Galactic and Humble respectively. Additionally, all ROS 2 nodes were written using Python or C++. However, any programming language capable of sending ROS 2 messages can be used to control the robots. The core packages inside this repo are as follows:
- :doc:`interbotix_xsarm_descriptions<ros2_packages/arm_descriptions>` - contains the meshes and URDFs (including accurate inertial models for the links) for all arm platforms
- :doc:`interbotix_xsarm_control<ros2_packages/arm_control>` - contains the motor configuration files and the 'root' launch file that is responsible for launching the robot arm
- :doc:`interbotix_xsarm_sim<ros2_packages/simulation_configuration>` - contains the config files necessary to simulate an arm in Gazebo classic
- :doc:`interbotix_xsarm_ros_control<ros2_packages/ros_control>` - contains configuration files necessary to set up ROS 2 controllers between MoveIt and the physical robot arm
- :doc:`interbotix_xsarm_moveit<ros2_packages/moveit_motion_planning_configuration>` - contains the config files necessary to launch an arm using MoveIt
There are also several packages demonstrating possible applications of the core packages. A list of those packages is below in order of importance:
.. toctree::
:maxdepth: 1
ros2_packages/arm_descriptions.rst
ros2_packages/arm_control.rst
ros2_packages/simulation_configuration.rst
ros2_packages/ros_control.rst
ros2_packages/moveit_motion_planning_configuration.rst
ros2_packages/perception_pipeline_configuration.rst
ros2_packages/moveit_interface_and_api.rst
ros2_packages/python_demos.rst
ros2_packages/joystick_control.rst
ros2_packages/record_and_playback.rst