XArm 1s ROS2 Complete Package

A professional, production-ready ROS2 package suite for the XArm 1s robotic manipulator. This workspace provides complete URDF/XACRO descriptions, MoveIt2 motion planning, ros2_control integration, and a high-level task execution system for both simulation and hardware control.

🎥 Demo

Notion Docs : https://www.notion.so/imsharma/2b66d122f3df80a9891efba5d7bc67e3?v=2bd6d122f3df80be930a000c2d0d9a55

XArm 1s in action with MoveIt2 motion planning and task execution!

🌟 Features

✅ Complete Robot Description: 5-DOF arm + 2-DOF gripper with accurate kinematics
✅ MoveIt2 Integration: Full motion planning with collision detection and path planning
✅ Task Execution System: High-level action server for pick-and-place operations
✅ Alexa Voice Control: Voice-controlled robot operations via Amazon Alexa integration
✅ ROS2 Control Integration: Full ros2_control support for simulation and hardware
✅ Gazebo Simulation: Ready-to-use Gazebo Classic integration with physics
✅ RViz2 Visualization: Interactive visualization with joint state control
✅ Modern Architecture: Python-based launch files, event-driven controller spawning
✅ Secure Configuration: Environment-based secrets management for production deployment
✅ Well Documented: Comprehensive guides, quickstart tutorials, and examples
✅ Production Ready: Tested on ROS2 Humble and Jazzy

📦 Packages Overview

This workspace contains three main packages:

1. xarm_description

Core robot description package with URDF/XACRO files, ros2_control configuration, and basic visualization/simulation capabilities.

2. xarm_moveit

MoveIt2 configuration package providing motion planning, collision detection, and trajectory execution for the XArm 1s.

3. xarm_remote

High-level task execution system with action servers for complex operations like pick-and-place. Includes both string-based and number-based task interfaces, plus Alexa voice control integration for hands-free robot operation.

🚀 Installation

Prerequisites

ROS2 Humble or Jazzy
Ubuntu 22.04 (for Humble) or Ubuntu 24.04 (for Jazzy)
Gazebo Classic (for simulation)

Install Dependencies

sudo apt update
sudo apt install ros-${ROS_DISTRO}-gazebo-ros2-control \
                 ros-${ROS_DISTRO}-joint-state-broadcaster \
                 ros-${ROS_DISTRO}-joint-trajectory-controller \
                 ros-${ROS_DISTRO}-robot-state-publisher \
                 ros-${ROS_DISTRO}-joint-state-publisher-gui \
                 ros-${ROS_DISTRO}-xacro \
                 ros-${ROS_DISTRO}-gazebo-ros-pkgs \
                 ros-${ROS_DISTRO}-moveit \
                 ros-${ROS_DISTRO}-moveit-ros-planning-interface \
                 ros-${ROS_DISTRO}-moveit-visual-tools

Build from Source

# Create workspace
mkdir -p ~/xarm_ws/src
cd ~/xarm_ws/src

# Clone repository
git clone -b moveit-configured https://github.com/Werewolf-Leader/xArm_1s-Description-Package.git .

# Build
cd ~/xarm_ws
colcon build --symlink-install

# Source workspace
source install/setup.bash

⚡ Quick Start

1. Basic Visualization (RViz2)

source ~/xarm_ws/install/setup.bash
ros2 launch xarm_description display.launch.py

Use the Joint State Publisher GUI to interactively control the robot joints!

2. MoveIt2 Demo (Motion Planning)

source ~/xarm_ws/install/setup.bash
ros2 launch xarm_moveit demo.launch.py

Use the MoveIt2 RViz interface to plan and execute trajectories with collision detection!

3. Full System with Task Server

source ~/xarm_ws/install/setup.bash
ros2 launch xarm_remote full_system.launch.py

Then send high-level commands:

# Pick and place operation
ros2 action send_goal /xarm_task xarm_remote/action/XarmTask \
  "{task_name: 'pick_place', target_position: {x: 0.2, y: 0.1, z: 0.15}}"

# Or use the Python client
ros2 run xarm_remote task_client.py

4. Alexa Voice Control

Control your robot with voice commands! First, configure your Alexa Skill ID:

# Copy environment template
cd ~/xarm_ws/src/xarm_remote
cp .env.example .env

# Edit .env and add your Alexa Skill ID
nano .env

Then launch the Alexa interface:

source ~/xarm_ws/install/setup.bash
export ALEXA_SKILL_ID=your-skill-id-here  # or set in .env
ros2 launch xarm_remote remote_interface.launch.py

See Alexa Setup Guide for detailed configuration.

Voice Commands:

"Alexa, ask robot to wake up" - Initialize robot
"Alexa, ask robot to pick" - Execute pick and place
"Alexa, ask robot to sleep" - Return to home position

5. Gazebo Simulation

source ~/xarm_ws/install/setup.bash
ros2 launch xarm_description gazebo.launch.py

📖 Usage

xarm_description Package

Basic robot description and visualization:

display.launch.py - RViz2 visualization with joint control
gazebo.launch.py - Gazebo simulation with ros2_control
controller.launch.py - Standalone controller manager

See xarm_description README for details.

xarm_moveit Package

MoveIt2 motion planning:

demo.launch.py - Complete MoveIt2 demo with RViz
move_group.launch.py - MoveIt2 move_group node
moveit_rviz.launch.py - RViz with MoveIt2 plugin

xarm_remote Package

High-level task execution and voice control:

full_system.launch.py - Complete system (MoveIt2 + Task Server)
full_system_number.launch.py - Number-based task interface
remote_interface.launch.py - Alexa voice control interface
task_server.launch.py - Standalone task server
task_client.py - Python client for sending tasks

See xarm_remote README and Alexa Setup Guide for detailed tutorials.

🤖 Robot Specifications

Degrees of Freedom: 7 (5 arm joints + 2 gripper joints)
Controller Type: Joint Trajectory Controller
Control Interfaces: Position, Velocity, Effort
Workspace: ~300mm reach
Payload: Lightweight objects

Joint Configuration

Joint	Type	Range
base_to_link1	Revolute	±180°
link1_to_link2	Revolute	±90°
link2_to_link3	Revolute	±130°
linkt_to_link5	Revolute	±130°
link5_to_gripperbase	Revolute	±180°
gripper_finger1_joint	Revolute	-50° to 0°
gripper_finger2_joint	Revolute	0° to 50°

📚 Documentation

Package Documentation

xarm_description README - Robot description and basic usage
xarm_remote README - Complete task system documentation
Alexa Setup Guide - Voice control configuration

Project Documentation

License - CC BY-NC 4.0

🛠️ Troubleshooting

Package Not Found

Make sure to source the workspace:

source ~/xarm_ws/install/setup.bash

Add to ~/.bashrc for automatic sourcing:

echo "source ~/xarm_ws/install/setup.bash" >> ~/.bashrc

Alexa Interface Not Starting

Make sure you've set the ALEXA_SKILL_ID environment variable:

export ALEXA_SKILL_ID=your-skill-id-here

Or create a .env file in src/xarm_remote/ with your Skill ID. See Alexa Setup Guide.

More Issues?

Check the Troubleshooting Section in the package README.

🤝 Contributing

Contributions are welcome! Please open an issue or pull request for:

Hardware interface implementation
Additional task types and behaviors
Performance optimizations
Additional examples and tutorials
Bug fixes and improvements
Documentation enhancements

📜 License

This project is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).

✅ Free for educational and research use
✅ Can be modified and shared with attribution
❌ Cannot be used for commercial purposes

See LICENSE for full details.

🙏 Acknowledgments

Original URDF model: Toshinori Kitamura (2018)
ROS2 conversion and enhancement: 2025
Built with ROS2 and ros2_control framework

📞 Contact & Support

Issues: GitHub Issues
Discussions: GitHub Discussions

⭐ Star History

If you find this project useful, please give it a star! It helps others discover the project.

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