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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
Name | Version |
---|---|
widowx_arm | 0.0.2 |
widowx_arm_controller | 0.0.2 |
widowx_arm_description | 0.0.2 |
widowx_arm_moveit | 0.3.0 |
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.
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