ros-kinetic-arbotix
package), but for the pincher gripper to work, you need to build an unrealeased 0.11.0 version which adds support for prismatic joints./opt/ros/kinetic
or ~/ros_ws/devel
depending on how you installed Arbotix ROS drivers) and run:arbotix_terminal
by default, assumes the board is connected on /dev/ttyUSB0
port. If it is attached to another device, you can specify it like this: dmesg -w
(Ctrl+C to exit), connect the device and check kernel logs. Windows Subsytem for Linux
, you need to open Device Manager and look under Ports for COM port number of the device. COM[N]
corresponds to /dev/ttyS[N]
path. (e.g. COM4 -> /dev/ttyS4). You might need to run:help
for list of commands.ls
to see id of connected servo and mv [source] [target]
to change it. For example, when the servo has id 1 and we want to set it to 2, just type mv 1 2
. config/test.yaml
file with following content (change port if needed):launch/test.launch
with following:source ~/ros_ws/devel/setup.bash
on every terminal session you open (or add it to ~/.bashrc
)command
topics that let you set position (in radians) for each servo and joint_states
topic that informs about position and velocity of each joint. There should also be services that allow enabling, relaxing or setting speed (in radians/sec) for each servo.servo1
joint. arbotix_gui
to control each joint. Just type:TURTLEBOT_ARM1
environment variable set to pincher
. To set it automatically on every terminal session, add export
command to .bashrc
file:roscore
running, then type:rviz
Fixed Frame
select arm_base_link
Add
in Displays panelRobotModel
and click Ok
turtlebot_arm_moveit
launch file:
Planning
tab in Motion Planning displayPlan
to see Motion visualization and then Execute
or just click on Plan and Execute
turtlebot_arm_bringup
and turtlebot_arm_description
packages, so we can remove the restrosdep
to check for missing dependencies~/.bashrc
to set them automaticallyip address
command