├── .gitignore ├── .images ├── xm_arm.jpg ├── xm_arm_avoide_collision_gazebo.png ├── xm_arm_avoide_collision_rviz.png ├── xm_arm_control_gazebo.png ├── xm_arm_motion_planning_gazebo.png ├── xm_arm_motion_planning_rviz.png ├── xm_arm_moveit_demo.png └── xm_arm_software_architecture.png ├── LICENSE ├── README.md ├── xm_arm_bringup ├── CMakeLists.txt ├── LICENSE ├── launch │ ├── xm_arm_bringup_gazebo_joint_control.launch │ ├── xm_arm_bringup_gazebo_joint_trajectory.launch │ ├── xm_arm_bringup_moveit_and_gazebo.launch │ └── xm_arm_bringup_moveit_and_hardware.launch ├── package.xml └── rviz │ └── xm_arm_bringup_gazebo.rviz ├── xm_arm_description ├── CMakeLists.txt ├── LICENSE ├── gazebo │ ├── xm_arm_gazebo_transmission.xacro │ ├── xm_gazebo_ros_control.xacro │ ├── xm_gazebo_urdf.xacro │ ├── xm_gripper_gazebo_transmission.xacro │ ├── xm_kinect_gazebo_transmission.xacro │ ├── xm_wheel_gazebo_transmission.xacro │ └── xmbot_gazebo_with_arm.xacro ├── launch │ └── xmbot_with_arm_display.launch ├── meshes │ ├── base_link.stl │ ├── base_link_l.stl │ ├── link_big_arm.stl │ ├── link_big_arm_l.stl │ ├── link_camera.stl │ ├── link_camera_l.stl │ ├── link_finger_left.stl │ ├── link_finger_left_l.stl │ ├── link_finger_right.stl │ ├── link_finger_right_l.stl │ ├── link_forearm.stl │ ├── link_forearm_l.stl │ ├── link_kinect.stl │ ├── link_kinect_l.stl │ ├── link_laser.stl │ ├── link_laser_l.stl │ ├── link_lift.stl │ ├── link_lift_l.stl │ ├── link_waist.stl │ ├── link_waist_l.stl │ ├── link_wheel_1.stl │ ├── link_wheel_1_l.stl │ ├── link_wheel_2.stl │ ├── link_wheel_2_l.stl │ ├── link_wheel_3.stl │ ├── link_wheel_3_l.stl │ ├── link_wrist_pitching.stl │ ├── link_wrist_pitching_l.stl │ ├── link_wrist_rotation.stl │ └── link_wrist_rotation_l.stl ├── package.xml ├── rviz │ └── xmbot_with_arm.rviz ├── urdf │ ├── materials.urdf.xacro │ ├── xm_arm.urdf.xacro │ ├── xm_base.urdf.xacro │ ├── xm_camera.urdf.xacro │ ├── xm_gripper.urdf.xacro │ ├── xm_kinect.urdf.xacro │ ├── xm_laser.urdf.xacro │ ├── xm_wheel.urdf.xacro │ ├── xmbot_with_all.urdf.xacro │ ├── xmbot_with_arm.urdf │ ├── xmbot_with_arm.urdf.xacro │ └── xmbot_with_arm.xacro ├── xmbot.gv └── xmbot.pdf ├── xm_arm_dynamixel_control ├── CMakeLists.txt ├── LICENSE ├── config │ └── xm_arm_dynamixel_params.yaml ├── launch │ └── xm_arm_dynamixel_control.launch ├── package.xml └── scripts │ ├── xm_arm_dynamixel_publish_joint_states.py │ └── xm_arm_dynamixel_relax_all_servos.py ├── xm_arm_gazebo ├── CMakeLists.txt ├── LICENSE ├── launch │ └── xm_arm_empty_world.launch ├── package.xml └── world │ ├── xm_arm_gazebo_with_shelf.world │ └── xm_arm_gazebo_with_table.world ├── xm_arm_gazebo_controller_config ├── CMakeLists.txt ├── LICENSE ├── config │ ├── xm_arm_gazebo_joint_position.yaml │ ├── xm_arm_gazebo_joint_states.yaml │ └── xm_arm_gazebo_joint_trajectory.yaml ├── launch │ ├── xm_arm_gazebo_joint_position.launch │ ├── xm_arm_gazebo_joint_states.launch │ └── xm_arm_gazebo_joint_trajectory.launch └── package.xml ├── xm_arm_gripper_control ├── CMakeLists.txt ├── LICENSE ├── package.xml └── scripts │ ├── xm_arm_gripper_action_server.py │ └── xm_arm_gripper_move_test.py ├── xm_arm_hardware_controller_config ├── CMakeLists.txt ├── LICENSE ├── config │ ├── xm_arm_hardware_joint_names.yaml │ ├── xm_arm_hardware_joint_states.yaml │ └── xm_arm_hardware_joint_trajectory.yaml ├── launch │ ├── xm_arm_hardware_joint_states.launch │ └── xm_arm_hardware_joint_trajectory.launch └── package.xml ├── xm_arm_hardware_serial_node ├── CMakeLists.txt ├── LICENSE ├── include │ └── xm_arm_hardware_serial_node │ │ ├── xm_arm_hardware_serial_node.h │ │ └── xm_arm_hardware_serial_port.h ├── package.xml └── src │ ├── main_node.cpp │ ├── xm_arm_hardware_serial_node.cpp │ └── xm_arm_hardware_serial_port.cpp ├── xm_arm_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── LICENSE ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_rgbd.yaml │ └── xmbot.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ ├── warehouse_settings.launch.xml │ ├── xmbot_moveit_controller_manager.launch.xml │ └── xmbot_moveit_sensor_manager.launch.xml └── package.xml ├── xm_arm_moveit_control ├── CMakeLists.txt ├── LICENSE ├── package.xml ├── scripts │ └── xm_arm_moveit_ik_test.py └── src │ └── xm_arm_moveit_ik_test.cpp ├── xm_arm_msgs ├── CMakeLists.txt ├── LICENSE ├── action │ └── xm_ArmGripperCommand.action ├── msg │ ├── xm_ArmGripperCommand.msg │ ├── xm_ArmSerialData.msg │ └── xm_ArmSerialDatagram.msg └── package.xml ├── xm_arm_robot_hardware ├── CMakeLists.txt ├── LICENSE ├── include │ └── xm_arm_robot_hardware │ │ └── xm_arm_robot_hardware.h ├── launch │ └── xm_arm_robot_hardware.launch ├── package.xml └── src │ ├── main.cpp │ └── xm_arm_robot_hardware.cpp ├── xm_arm_teleop ├── CMakeLists.txt ├── LICENSE ├── include │ └── xm_arm_teleop │ │ ├── xm_arm_teleop_position_keyboard.h │ │ └── xm_arm_teleop_trajectory_keyboard.h ├── launch │ ├── xm_arm_teleop_position_keyboard.launch │ └── xm_arm_teleop_trajectory_keyboard.launch ├── package.xml └── src │ ├── xm_arm_teleop_position_keyboard.cpp │ └── xm_arm_teleop_trajectory_keyboard.cpp ├── xm_arm_trajectory_control ├── CMakeLists.txt ├── LICENSE ├── include │ └── xm_arm_trajectory_control │ │ └── xm_arm_trajectory_move_test.h ├── package.xml ├── scripts │ └── xm_arm_trajectory_move_test.py └── src │ └── xm_arm_trajectory_move_test.cpp └── xm_arm_workspace ├── CMakeLists.txt └── package.xml /.gitignore: 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