xarm planner simulation

[Tn-333]

I'm a beginner, so I apologize for the basic questions.

roslaunch xarm_planner xarm_planner_rviz_sim.launch robot_dof:=7 robot_type:=xarm add_gripper:=false add_vacuum_gripper:=false

When I start rviz with this command and run xarm_simple_planner_test

[ INFO] [1693880039.867058739]: waitForService: Service [/xarm/set_state] has not been advertised, waiting...

It will be displayed. Is this normal or abnormal?
If it is abnormal, please tell me the solution.

[vimior]

@Tn-333
Sorry, this xarm_simple_planner_test routine only supports real robotic arms. Virtual robotic arms can directly call the corresponding services through rosservice call. In fact, xarm_simple_planner_test also calls some services, but there is a service that only supports real robots. The virtual manipulator only has the arm, so when the virtual manipulator runs this routine, it will be stuck in the connection service.

[Tn-333]

Thank you for your detailed reply.
I would like to ask you something additional.
I would like to run C++ code and check its operation without connecting to an actual xarm7 machine. What steps should I take?

[vimior]

@Tn-333
As you used before, you started xarm_planner_rviz_sim.launch. This will not be connected to the real robot arm. However, xarm_simple_planner_test does not apply to xarm_planner_rviz_sim.launch. You can simply modify the source code of xarm_simple_planner_test and compile it for use, or call it directly through the command line. services control, refer to xarm_planner.