1. 硬件连接

1. Hardware Connection

1.1 电源连接

1.1 Power Connection

将电源适配器接入交流电源，另一端接入机械臂电源口。

Connect the power adapter to AC power, and the other end to the robot arm power port.

电源适配器 → 电源线 → 机械臂电源端

Power Adapter → Cable → Arm Power

1.2 信号连接

1.2 Signal Connection

1. 将 CAN 信号线依次接入对应 CAN 口
2. Connect CAN cables to corresponding CAN ports
3. 接入鼠标、键盘、HDMI 显示
4. Connect mouse, keyboard, HDMI display
5. 打开电源开关，等待系统启动
6. Turn on power and wait for system boot

信号端 → 机械臂控制板

Signal → Arm Control Board

2. 基础调试

2. Basic Debugging

2.1 设置 CAN 接口（CAN FD 模式）

2.1 Set CAN Interface (CAN FD Mode)

终端 1：执行配置脚本

Terminal 1: Run setup script

cd publish/xarm_can/package/libexec
./setup_can_interfaces.sh

终端 2：查看 CAN 口状态

Terminal 2: Check CAN status

ip link show

正常状态：显示 NOARP, UP，表示 CAN FD 已启用。

Normal: NOARP, UP means CAN FD enabled.

2.2 电机测试

2.2 Motor Test

开启两个终端：

Open two terminals:

终端1（监视器）：

Terminal 1 (Monitor):

candump can0

终端2（发送指令）：

Terminal 2 (Send Command):

cansend can0 001#FFFFFFFFFFFFFFFC

正常：终端1收到回帧，说明 CAN 通信正常。

Normal: Terminal 1 receives echo → CAN OK.

2.3 遥操作演示运行

2.3 Run Teleoperation Demo

cd publish/modules
colcon build
cd publish/modules/src/xarm_teleop
./script/launch_unilateral.sh <arm_side> [leader_can_if] [follower_can_if]

参数说明：

Parameters:

• arm_side：right_arm / left_arm（必选）
• arm_side: right_arm / left_arm (required)
• leader_can_if：主臂 CAN 口（默认：right→can0，left→can2）
• leader_can_if: leader CAN (default: right→can0, left→can2)
• follower_can_if：从臂 CAN 口（默认：right→can1，left→can3）
• follower_can_if: follower CAN (default: right→can1, left→can3)

示例：

Example:

./script/launch_unilateral.sh right_arm can0 can1

3. ROS2 包使用

3. ROS2 Package Usage

3.1 xarm_hardware（硬件接口）

3.1 xarm_hardware (Hardware Interface)

配置参数：

Parameters:

• can_interface：CAN 设备（默认 can0）
• can_interface: CAN device (default can0)
• arm_prefix：双臂关节前缀（left_ / right_）
• arm_prefix: joint prefix (left_ / right_)
• hand：是否启用夹爪（v10 默认 true）
• hand: enable gripper (v10 default true)

<hardware>
  <plugin>xarm_hardware/V10SimpleHardware</plugin>
  <param name="can_interface">can0</param>
  <param name="arm_prefix">right_</param>
  <param name="hand">true</param>
</hardware>

3.2 xarm_bringup（启动管理）

3.2 xarm_bringup (Launch Management)

启动文件：

Launch Files:

• xarm.launch.py：单臂
• xarm.launch.py: Single Arm
• xarm.bimanual.launch.py：双臂协同
• xarm.bimanual.launch.py: Dual Arm

关键参数：

Key Parameters:

• arm_type：机械臂型号（默认 v10）
• arm_type: robot type (default v10)
• hardware_type：real / mock / mujoco
• hardware_type: real / mock / mujoco
• robot_controller：joint_trajectory_controller / forward_position_controller
• robot_controller: joint_trajectory_controller / forward_position_controller

3.3 示例命令

3.3 Example Commands

单臂真实硬件：

Single Arm (Real Hardware):

ros2 launch xarm_bringup xarm.launch.py arm_type:=v10

发送轨迹指令：

Send Trajectory Goal:

ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{
  trajectory: {
    joint_names: ["xarm_joint1","xarm_joint2","xarm_joint3","xarm_joint4","xarm_joint5","xarm_joint6","xarm_joint7"],
    points: [{
      positions: [-0.0665674830243379,0.1493476768139157,-0.2534905012588702,0.8672846570534833,0.014686808575570254,0.12684061951628856,0.8794918745708404],
      time_from_start: {sec:4,nanosec:0}
    }]
  }
}'

双臂启动：

Dual Arm Launch:

ros2 launch xarm_bringup xarm.bimanual.launch.py arm_type:=v10

模拟硬件测试：

Simulated Hardware:

ros2 launch xarm_bringup xarm.bimanual.launch.py arm_type:=v10 use_fake_hardware:=true

4. 技术支持

4. Support