Note: any robot can be used, only ensure that the robot ROS2 driver is publishing the joint states and link TFs at rate of at least 125Hz

[honggesmile]

Hi,I'm using hans elfin5 robot instead of ur5.I don't know how to link Han's robotic arm drive with ros2_grasp_library,Should Terminal 1 and Terminal 2 be running?

Terminal 1 (robot frames tf update)

ros2 launch robot_interface ur_test.launch.py move:=false

Terminal 2 (robot state display in Rviz2)

ros2 launch ur_description view_ur5_ros2.launch.py

Looking forward to your reply, thank you.