Content

• 1.rm_bringup Package Description
• 2.rm_bringup Package Use
• 2.1moveit2 Controlling Real Robotic Arm
• 2.2Gazebo control of robotic arm
• 3.rm_bringup Package Architecture Description
• 3.1Overview of Package Files
• 4.rm_bringup Topic Description

rm_bringup_Package_Description

rm_bringup is a function package for realizing the simultaneous running of multiple launch files. Using this package, a command can be used to launch complex functions combining multiple nodes. This package is introduced in detail in the following aspects.

• 1.Package use.
• 2.Package architecture description.
• 3.Package topic description.
  Through the introduction of the three parts, it can help you:
• 1.Understand the package use.
• 2.Familiar with the file structure and function of the package.
• 3.Familiar with the topic related to the package for easy development and use. Source code address: https://github.com/RealManRobot/ros2_rm_robot.git。

  rm_bringup_Package_Use

  Unified launch entry

  The recommended entry point is rm_bringup.launch.py. Select the robot model, end-link variant, and runtime mode with launch arguments. All existing model-specific launch commands remain supported.

# Simulation (retains the 6fb model name used by generation 3 and older generation 4 software)
ros2 launch rm_bringup rm_bringup.launch.py \
  arm_type:=65-6fb mode:=gazebo

# Real robot (generation 4 controller software > 1.0.5)
ros2 launch rm_bringup rm_bringup.launch.py \
  arm_type:=65-6f

# Note: Generation 4 controller software 1.0.6 and later names the former 6fb end link 6f.

Simulation does not connect to a controller and retains the 6fb model name for this geometry. For a generation 3 robot or older generation 4 software, use arm_type:=65-6fb. mode defaults to real and allow_trajectory_execution defaults to true.

Real mode accepts new generation 4 names, such as arm_type:=eco63-6f mode:=real. The entry starts the driver and reads the API-reported generation through its existing get_robot_info_cmd/result topics before choosing the model. Generation 4 6f/6f-v inputs reuse existing 6fb/6fb-v configurations; generation 3 retains the old 6F model. No manual generation argument is required. Failed or missing information after 10 seconds stops bringup before description, control and MoveIt are started; no generation is guessed. Disconnected description and simulation entries retain their original selection rules. Software versions above 1.0.5 change the name only, not ISF/ISFV geometry.

The following table applies to unified real bringup for the 10 families. Generation 4 new names apply when communication software is > 1.0.5; older software keeps 6fb/6fb-v. Bare families select the standard version:

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