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widowx_arm repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/widowx_arm.git
VCS Type git
VCS Version master
Last Updated 2019-07-23
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

widowx_arm

This ROS package is intended to work with the WidowX arm.

  • widowx_arm_controller : Controller based on arbotix_python driver to control the arm
  • widowx_arm_description : Description of the arm

Installation and configuration

Setting up the Arbotix-M board

In order to work with ROS it is necessary to upload the firmware into the Arbotix-M board.

  • Download Arduino ide from https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz
    • wget https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz
  • Extract it into a folder.
  • Download the firmware archives from https://github.com/trossenrobotics/arbotix/archive/master.zip
    • wget https://github.com/trossenrobotics/arbotix/archive/master.zip
  • Extract it into a folder like ~/Documents/Arduino
  • Run arduino from the folder you extracted it previously
    • cd ~/Downloads/arduino-1.0.6
    • ./arduino
  • Once Arduino IDE is running, change the Sketchbook folder location to /Documents/Arduino/arbotixmaster or the one you extracted it previously.
    • File->Preferences->Sketchbook Location
    • Tools->Board->Arbotix
    • Tools->Serial Port->/dev/ttyUSBX
    • File->Sketchbook->Arbotix Sketches ->ros
    • Verify + Upload
  • The Arbotix is ready to work with ROS!!

Downloading the package

clone the repo into your workspace and compile it.

git clone https://github.com/RobotnikAutomation/widowx_arm.git

Creating the udev rule for the device

In the widowx_arm_controller/config folder there’s the file 58-widowx.rules. You have to copy it into the /etc/udev/rules.d folder.

sudo cp 58-widowx.rules /etc/udev/rules.d

You have to set the attribute ATTRS{serial} with the current serial number of the ftdi device

udevadm info -a -n /dev/ttyUSB0 | grep serial 

Once modified you have to reload and restart the udev daemon

sudo service udev reload
sudo service udev restart
sudo udevadm trigger

Running the controller

roslaunch widowx_arm_controller widowx_arm_controller.launch 

Commanding the controller

rostopic pub /joint_1/command std_msgs/Float64 "data: 0.0" 
rostopic pub /joint_2/command std_msgs/Float64 "data: 0.0" 
rostopic pub /joint_3/command std_msgs/Float64 "data: 0.0" 
rostopic pub /joint_4/command std_msgs/Float64 "data: 0.0" 
rostopic pub /joint_5/command std_msgs/Float64 "data: 0.0" 
rostopic pub /gripper_revolute_joint/command std_msgs/Float64 "data: 0.0" 
rostopic pub /gripper_prismatic_joint/command std_msgs/Float64 "data: 0.0"

Visualizing the state

Load the description and run the state publisher

roslaunch widowx_arm_description load_description.launch

Open the RVIZ tool and add the plugins you need to visualize the arm

rosrun rviz rviz

CONTRIBUTING

No CONTRIBUTING.md found.