- Launch xarm
- Simulation
roslaunch xarm_planner xarm_planner_rviz_sim.launch robot_dof:=<7|6|5>
- Real HW
roslaunch xarm_planner xarm_planner_realHW.launch robot:=<your controller box LAN IP address> robot_dof:=<7|6|5>
- run xarm_ros_api_test.py
rosrun xarm_ros_api xarm5_ros_api_test.py