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  You MUST follow **chapter 3** to install additional packages needed before any usage of xarm_ros packages. Otherwise, unexpected errors may occur.
  If developing with **Moveit**, it is highly recommended to use **DIRECT network connection** between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution.
  If developing with **Moveit**, it is highly recommended to use **DIRECT network cable connection** between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution.
