widowx_arm repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/widowx_arm.git
VCS Type git
VCS Version master
Last Updated 2017-06-01
Dev Status MAINTAINED
Released RELEASED

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 de 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