How allprogramming/ros2_xarm_1s_demos works
This repository is a ROS 2 demonstration stack for a Hiwonder xArm 1S paired with a SparkFun VL53L5CX depth sensor. The main robot workflow is to launch the configured MoveIt planning stack, dispatch joint-position control through ros2_control, and communicate with the arm over serial. Robot-description and controller configuration support that runtime; Arduino firmware represents the sensor side. The README describes future point-cloud aggregation and object interaction as planned, not implemented. The Arduino source and most configuration contents were not sampled, so sensor data flow and detailed MoveIt wiring are not asserted.
Main entry points: xarm_1s.launch.py Hardware Bringup · demo.launch.py MoveIt Launch · move_group.launch.py Move Group · xarm_1s.cpp Serial Link
Components 15
Motion Planning
- MoveIt Launch
ros2_ws/src/xarm_1s_moveit_config/launch/demo.launch.py - Move Group
ros2_ws/src/xarm_1s_moveit_config/launch/move_group.launch.py - Planning Config
ros2_ws/src/xarm_1s_moveit_config/config - MoveIt Controllers
ros2_ws/src/xarm_1s_moveit_config/config/moveit_controllers.yaml
Robot Model
- Robot Description
ros2_ws/src/xarm_1s_description/urdf/xarm_1s.urdf.xacro - Model Viewer Launch
ros2_ws/src/xarm_1s_description/launch/view_robot.launch.py
Robot Control
- Hardware Bringup
ros2_ws/src/ros2_control_xarm_1s/bringup/launch/xarm_1s.launch.py - Controller Config
ros2_ws/src/ros2_control_xarm_1s/bringup/config/xarm_1s_controllers.yaml - Controller Manager
ros2_ws/src/ros2_control_xarm_1s/bringup/launch/xarm_1s.launch.py - xArm Hardware
ros2_ws/src/ros2_control_xarm_1s/src/xarm_1s.cpp - Serial Link
ros2_ws/src/ros2_control_xarm_1s/src/xarm_1s.cpp
Depth Sensing
- Sensor Firmware
Arduino/micro_ros_arduino_sparkfun_VL53L5CX/micro_ros_arduino_sparkfun_VL53L5CX.ino - VL53L5CX
Other components
- Operator
- xArm 1S
Connections 14
- Operator → MoveIt Launch: starts
- MoveIt Launch → Move Group: launches
- Move Group → Planning Config: loads settings
- Move Group → MoveIt Controllers: loads mapping
- MoveIt Launch → Robot Description: configures model
- Model Viewer Launch → Robot Description: loads model
- Hardware Bringup → Robot Description: loads model
- Hardware Bringup → Controller Manager: starts
- Hardware Bringup → Controller Config: loads settings
- Controller Manager → xArm Hardware: loads plugin
- xArm Hardware → Serial Link: reads and writes
- Serial Link → xArm 1S: serial commands
- xArm 1S → Serial Link: servo positions
- Sensor Firmware → VL53L5CX: reads depth