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xArm-Developer/xarm_ros

ROS packages for robotic products from UFACTORY

61BSD-3-ClauseC++

View on GitHub Website

Stars: 302
Forks: 174
Watchers: 13
Open issues: 88
Contributors: 15

Star history, last 90 days— over 5 snapshots

2026-07-24 · 3022026-08-06 · 302

Star history, last 90 days
Date	Stars
2026-07-24	302
2026-07-25	302
2026-07-28	302
2026-07-30	302
2026-08-06	302

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

For simplified Chinese version: [简体中文版](./ReadMe_cn.md)    
For **UFACTORY Lite 6/850** users, make sure you have followed the instructions before chapter 4.7 on this page, then switch to [ReadMe for Lite6/UF850](./ReadMe_others.md).    
For **kinetic** users, please use the [kinetic branch](https://github.com/xArm-Developer/xarm_ros/tree/kinetic).

## Important Notice:
&ensp;&ensp;Topic "**xarm_cgpio_states**" has been renamed to "**controller_gpio_states**".  

&ensp;&ensp;After using xArm C++ SDK as sub-module, the use of **/xarm/set_tool_modbus** service has been modified, compared with old version, the redundant '***0x09***' byte in response data has been ***removed***！  
&ensp;&ensp;Due to robot communication data format change, ***early users*** (xArm shipped ***before June 2019***) are encouraged to ***upgrade*** their controller firmware immediately to drive the robot normally in future updates as well as to use newly developed functions. Please contact our staff to get instructions of the upgrade process. The old version robot driver can still be available in ***'legacy'*** branch, however, it will not be updated any more.   

&ensp;&ensp;You MUST follow **chapter 3** to install additional packages needed before any usage of xarm_ros packages. Otherwise, unexpected errors may occur.

&ensp;&ensp;If developing with **Moveit**, it is highly recommended to use **DIRECT network cable connection** between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution.  

&ensp;&ensp; When updating this package, please remember to [check the submodule update](#421-update-the-package) as well!  

# Contents:  
* [1. Introduction](#1-introduction)
* [2. Update History](#2-update-summary)
* [3. Preparations (**MUST DO**)](#3-preparations-before-using-this-package)
* [4. Get Started](#4-getting-started-with-xarm_ros)
* [5. Package Description & Usage Guidance](#5-package-description--usage-guidance)
    * [5.1 xarm_description](#51-xarm_description)  
    * [5.2 xarm_gazebo](#52-xarm_gazebo)  
    * [5.3 xarm_controller](#53-xarm_controller)  
    * [5.4 xarm_bringup](#54-xarm_bringup)  
    * [5.5 ***xarm7_moveit_config***](#55-xarm7_moveit_config)  
        * [5.5.1 Add Custom Tool Model For Moveit](#551-add-custom-tool-model-for-moveit)  
    * [5.6 ***xarm_planner***](#56-xarm_planner)  
    * [5.7 ***xarm_api/xarm_msgs (Online Planning Modes Added)***](#57-xarm_apixarm_msgs)  
        * [5.7.1 Starting xArm by ROS service (***priority for the following operations***)](#starting-xarm-by-ros-service)  
        * [5.7.2 Joint space or Cartesian space command example](#joint-space-or-cartesian-space-command-example)
        * [5.7.3 Tool/Controller I/O Operations](#tool-io-operations)  
        * [5.7.4 Getting status feedback](#getting-status-feedback)  
        * [5.7.5 Setting Tool Center Point Offset](#setting-tool-center-point-offset)  
        * [5.7.6 Clearing Errors](#clearing-errors)  
        * [5.7.7 Gripper Control](#gripper-control)
        * [5.7.8 Vacuum Gripper Control](#vacuum-gripper-control)
        * [5.7.9 Tool Modbus communication](#tool-modbus-communication)
        * [5.7.10 'report_type' argument](#report_type-argument)
    * [5.8 ***xarm_moveit_servo***](#58-xarm_moveit_servo)
* [6. Mode Change(***Updated***)](#6-mode-change)
    * [6.1 Mode Explanation](#61-mode-explanation)
    * [6.2 Proper way to change modes](#62-proper-way-to-change-modes)
* [7. xArm Vision](#7-xarm-vision)
    * [7.1 Installation of dependent packages](#71-installation-of-dependent-packages)
    * [7.2 Hand-eye Calibration Demo](#72-hand-eye-calibration-demo)
    * [7.3 Vision Guided Grasping Demo](#73-vision-guided-grasping-demo)
    * [7.4 Adding RealSense D435i model to simulated xArm](#74-adding-realsense-d435i-model-to-simulated-xarm)
    * [7.5 Color Cube Grasping Demo (Simulation + Real Hardware)](#75-color-cube-grasping-demo)
* [8. Other E

Excerpt of 59,527 characters

Read on GitHub

Top contributors

No contributor data yet — it is fetched during the contributor sync pass.

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

61/10061

Maintenance: 70%; How recently the default branch was pushed to
Releases: 10%; Recency and cadence of tagged releases
Community: 67%; Contributor breadth and bus factor
Issue backlog: 15%; Open issues measured against the size of the audience
Documentation: 100%; README depth, plus a homepage and topics
Licensing: 100%; How freely the code can be adopted

What to know before adopting

No release in over a year
Usable in commercial products with attribution.

Details

Created: 8 years ago
Last push: 3 months ago
Last release: 2 years ago
Release tag: v2.0.0
Releases in the last year: 0
Default branch: master
Size: 39k KB
Owner type: Organization
Owner location: —
Discovered via: topic:ros
First indexed: 13 days ago
Last synced: 9 days ago

xArm-Developer/xarm_ros

ROS packages for robotic products from UFACTORY

61BSD-3-ClauseC++

View on GitHub Website

Stars: 302
Forks: 174
Watchers: 13
Open issues: 88
Contributors: 15

Star history, last 90 days— over 5 snapshots

2026-07-24 · 3022026-08-06 · 302

Star history, last 90 days
Date	Stars
2026-07-24	302
2026-07-25	302
2026-07-28	302
2026-07-30	302
2026-08-06	302

Today

— stars today

This week

— stars this week

This month

— stars this month

Momentum

0.0

growth rate 0.00%/day

From the README

For simplified Chinese version: [简体中文版](./ReadMe_cn.md)    
For **UFACTORY Lite 6/850** users, make sure you have followed the instructions before chapter 4.7 on this page, then switch to [ReadMe for Lite6/UF850](./ReadMe_others.md).    
For **kinetic** users, please use the [kinetic branch](https://github.com/xArm-Developer/xarm_ros/tree/kinetic).

## Important Notice:
&ensp;&ensp;Topic "**xarm_cgpio_states**" has been renamed to "**controller_gpio_states**".  

&ensp;&ensp;After using xArm C++ SDK as sub-module, the use of **/xarm/set_tool_modbus** service has been modified, compared with old version, the redundant '***0x09***' byte in response data has been ***removed***！  
&ensp;&ensp;Due to robot communication data format change, ***early users*** (xArm shipped ***before June 2019***) are encouraged to ***upgrade*** their controller firmware immediately to drive the robot normally in future updates as well as to use newly developed functions. Please contact our staff to get instructions of the upgrade process. The old version robot driver can still be available in ***'legacy'*** branch, however, it will not be updated any more.   

&ensp;&ensp;You MUST follow **chapter 3** to install additional packages needed before any usage of xarm_ros packages. Otherwise, unexpected errors may occur.

&ensp;&ensp;If developing with **Moveit**, it is highly recommended to use **DIRECT network cable connection** between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution.  

&ensp;&ensp; When updating this package, please remember to [check the submodule update](#421-update-the-package) as well!  

# Contents:  
* [1. Introduction](#1-introduction)
* [2. Update History](#2-update-summary)
* [3. Preparations (**MUST DO**)](#3-preparations-before-using-this-package)
* [4. Get Started](#4-getting-started-with-xarm_ros)
* [5. Package Description & Usage Guidance](#5-package-description--usage-guidance)
    * [5.1 xarm_description](#51-xarm_description)  
    * [5.2 xarm_gazebo](#52-xarm_gazebo)  
    * [5.3 xarm_controller](#53-xarm_controller)  
    * [5.4 xarm_bringup](#54-xarm_bringup)  
    * [5.5 ***xarm7_moveit_config***](#55-xarm7_moveit_config)  
        * [5.5.1 Add Custom Tool Model For Moveit](#551-add-custom-tool-model-for-moveit)  
    * [5.6 ***xarm_planner***](#56-xarm_planner)  
    * [5.7 ***xarm_api/xarm_msgs (Online Planning Modes Added)***](#57-xarm_apixarm_msgs)  
        * [5.7.1 Starting xArm by ROS service (***priority for the following operations***)](#starting-xarm-by-ros-service)  
        * [5.7.2 Joint space or Cartesian space command example](#joint-space-or-cartesian-space-command-example)
        * [5.7.3 Tool/Controller I/O Operations](#tool-io-operations)  
        * [5.7.4 Getting status feedback](#getting-status-feedback)  
        * [5.7.5 Setting Tool Center Point Offset](#setting-tool-center-point-offset)  
        * [5.7.6 Clearing Errors](#clearing-errors)  
        * [5.7.7 Gripper Control](#gripper-control)
        * [5.7.8 Vacuum Gripper Control](#vacuum-gripper-control)
        * [5.7.9 Tool Modbus communication](#tool-modbus-communication)
        * [5.7.10 'report_type' argument](#report_type-argument)
    * [5.8 ***xarm_moveit_servo***](#58-xarm_moveit_servo)
* [6. Mode Change(***Updated***)](#6-mode-change)
    * [6.1 Mode Explanation](#61-mode-explanation)
    * [6.2 Proper way to change modes](#62-proper-way-to-change-modes)
* [7. xArm Vision](#7-xarm-vision)
    * [7.1 Installation of dependent packages](#71-installation-of-dependent-packages)
    * [7.2 Hand-eye Calibration Demo](#72-hand-eye-calibration-demo)
    * [7.3 Vision Guided Grasping Demo](#73-vision-guided-grasping-demo)
    * [7.4 Adding RealSense D435i model to simulated xArm](#74-adding-realsense-d435i-model-to-simulated-xarm)
    * [7.5 Color Cube Grasping Demo (Simulation + Real Hardware)](#75-color-cube-grasping-demo)
* [8. Other E

Excerpt of 59,527 characters

Read on GitHub

Top contributors

No contributor data yet — it is fetched during the contributor sync pass.

Quality score

Would you bet a product on this? Bounded 0–100 and slow moving.

61/10061

Maintenance: 70%; How recently the default branch was pushed to
Releases: 10%; Recency and cadence of tagged releases
Community: 67%; Contributor breadth and bus factor
Issue backlog: 15%; Open issues measured against the size of the audience
Documentation: 100%; README depth, plus a homepage and topics
Licensing: 100%; How freely the code can be adopted

What to know before adopting

No release in over a year
Usable in commercial products with attribution.

Details

Created: 8 years ago
Last push: 3 months ago
Last release: 2 years ago
Release tag: v2.0.0
Releases in the last year: 0
Default branch: master
Size: 39k KB
Owner type: Organization
Owner location: —
Discovered via: topic:ros
First indexed: 13 days ago
Last synced: 9 days ago

Top AI Repos — open-source AI, indexed and scored

xArm-Developer/xarm_ros

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details

xArm-Developer/xarm_ros

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details

Top AI Repos — open-source AI, indexed and scored

Trend

From the README

Top contributors

Quality score

What to know before adopting

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Trend

From the README

Top contributors

Quality score

What to know before adopting

Categories

Details