UFACTORY xArm 6

Six-axis xArm macro source in the UFACTORY ROS 2 repository.

Robot armsXacroROS 2

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Visualization checks geometry and joint motion. It does not run a physics simulation.

This variant source is included by xarm_device.urdf.xacro. Use the upstream launch workflow and its dof/gripper arguments.

The Humble branch is recorded here. Use the complete repository, submodules, and the correct arm/gripper arguments.

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Maintainer / source: xArm-Developer/xarm_ros2
Branch at check: humble
Model path: xarm_description/urdf/xarm6/xarm6.urdf.xacro
Revision: ac736c92b02d
License context: BSD-3-Clause reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF