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
Package 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.

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.