• launch/moveit_real_arm_configurations.launch
  • • arm_dof
    • robot_ip
    • end_effector [default: ]
    • show_rviz [default: true]
    • no_gui_plan [default: true]
    • report_type [default: normal]
    • robot_type [default: xarm]
    • ext_ns [default: ]
    • model1300 [default: false]
• launch/moveit_sim_configurations.launch
  • • arm_dof
    • end_effector [default: ]
    • namespace [default: xarm]
    • robot_type [default: xarm]
    • model1300 [default: false]
    • no_gui_plan [default: true]
• launch/robot_planner_fake.launch
  • • dof [default: 7]
    • robot_type [default: xarm]
    • robot_sn [default: ]
    • model1300 [default: false]
    • limited [default: true]
    • attach_to [default: world]
    • attach_xyz [default: '0 0 0']
    • attach_rpy [default: '0 0 0']
    • add_realsense_d435i [default: false]
    • add_d435i_links [default: false]
    • add_gripper [default: false]
    • add_vacuum_gripper [default: false]
    • add_other_geometry [default: false]
    • geometry_type [default: box]
    • geometry_mass [default: 0.1]
    • geometry_height [default: 0.1]
    • geometry_radius [default: 0.1]
    • geometry_length [default: 0.1]
    • geometry_width [default: 0.1]
    • geometry_mesh_filename [default: ]
    • geometry_mesh_origin_xyz [default: '0 0 0']
    • geometry_mesh_origin_rpy [default: '0 0 0']
    • geometry_mesh_tcp_xyz [default: '0 0 0']
    • geometry_mesh_tcp_rpy [default: '0 0 0']
    • ext_ns [default: ]
    • sensors_3d [default: false]
    • jnt_stat_pub_rate [default: 10]
    • no_gui_plan [default: true]
• launch/robot_planner_realmove.launch
  • • robot_ip
    • report_type [default: normal]
    • dof [default: 7]
    • robot_type [default: xarm]
    • robot_sn [default: ]
    • model1300 [default: false]
    • limited [default: true]
    • hw_ns [default: xarm]
    • velocity_control [default: false]
    • baud_checkset [default: true]
    • default_gripper_baud [default: 2000000]
    • attach_to [default: world]
    • attach_xyz [default: '0 0 0']
    • attach_rpy [default: '0 0 0']
    • add_realsense_d435i [default: false]
    • add_d435i_links [default: false]
    • add_gripper [default: false]
    • add_vacuum_gripper [default: false]
    • add_other_geometry [default: false]
    • geometry_type [default: box]
    • geometry_mass [default: 0.1]
    • geometry_height [default: 0.1]
    • geometry_radius [default: 0.1]
    • geometry_length [default: 0.1]
    • geometry_width [default: 0.1]
    • geometry_mesh_filename [default: ]
    • geometry_mesh_origin_xyz [default: '0 0 0']
    • geometry_mesh_origin_rpy [default: '0 0 0']
    • geometry_mesh_tcp_xyz [default: '0 0 0']
    • geometry_mesh_tcp_rpy [default: '0 0 0']
    • ext_ns [default: ]
    • sensors_3d [default: false]
    • enforce_limits [default: true]
    • jnt_stat_pub_rate [default: 10]
    • show_rviz [default: true]
    • no_gui_plan [default: true]
• launch/xarm_planner_realHW.launch
  • • robot_ip
    • robot_dof
    • show_rviz [default: true]
    • no_gui_plan [default: true]
    • add_gripper [default: false]
    • add_vacuum_gripper [default: false]
    • report_type [default: normal]
    • ext_ns [default: ]
    • robot_type [default: xarm]
    • model1300 [default: false]
• launch/xarm_planner_rviz_sim.launch
  • • robot_dof
    • add_gripper [default: false]
    • add_vacuum_gripper [default: false]
    • namespace [default: xarm]
    • no_gui_plan [default: true]
    • robot_type [default: xarm]
    • model1300 [default: false]

• srv/exec_plan.srv
• srv/joint_plan.srv
• srv/pose_plan.srv
• srv/single_straight_plan.srv

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