ros-kinetic-arbotixpackage), but for the pincher gripper to work, you need to build an unrealeased 0.11.0 version which adds support for prismatic joints.
~/ros_ws/develdepending on how you installed Arbotix ROS drivers) and run:
helpfor list of commands.
lsto 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.yamlfile with following content (change port if needed):
commandtopics that let you set position (in radians) for each servo and
joint_statestopic 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.
arbotix_guito control each joint. Just type:
TURTLEBOT_ARM1environment variable set to
pincher. To set it automatically on every terminal session, add
roscorerunning, then type:
Addin Displays panel
Planningtab in Motion Planning display
Planto see Motion visualization and then
Executeor just click on
Plan and Execute
turtlebot_arm_descriptionpackages, so we can remove the rest
rosdepto check for missing dependencies