{"id":21103171,"url":"https://github.com/robotnikautomation/widowx_arm","last_synced_at":"2025-06-28T02:03:25.110Z","repository":{"id":1598095,"uuid":"41721850","full_name":"RobotnikAutomation/widowx_arm","owner":"RobotnikAutomation","description":"ROS packages to work with the WidowX Arm","archived":false,"fork":false,"pushed_at":"2022-06-07T13:55:05.000Z","size":90,"stargazers_count":17,"open_issues_count":5,"forks_count":25,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-05-16T18:44:04.745Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobotnikAutomation.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2015-09-01T06:45:07.000Z","updated_at":"2025-02-17T14:52:44.000Z","dependencies_parsed_at":"2022-08-24T00:30:58.094Z","dependency_job_id":null,"html_url":"https://github.com/RobotnikAutomation/widowx_arm","commit_stats":null,"previous_names":[],"tags_count":2,"template":false,"template_full_name":null,"purl":"pkg:github/RobotnikAutomation/widowx_arm","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Fwidowx_arm","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Fwidowx_arm/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Fwidowx_arm/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Fwidowx_arm/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/widowx_arm/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Fwidowx_arm/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":262362048,"owners_count":23299119,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-19T23:57:56.090Z","updated_at":"2025-06-28T02:03:25.087Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# widowx_arm\n\nThis ROS package is intended to work with the [WidowX](https://www.roscomponents.com/en/robotic-arms/11-widowx.html#/assembled-no) arm.\n\n* widowx_arm_controller : Controller based on arbotix_python driver to control the arm\n* widowx_arm_description : Description of the arm\n\n## Installation and configuration\n\n### Setting up the Arbotix-M board\n\nIn order to work with ROS it is necessary to upload the firmware into the Arbotix-M board.\n\n* Download Arduino ide from https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz\n  * wget https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz\n  \n* Extract it into a folder.\n* Download the firmware archives from https://github.com/trossenrobotics/arbotix/archive/master.zip\n  * wget https://github.com/trossenrobotics/arbotix/archive/master.zip\n* Extract it into a folder like ~/Documents/Arduino\n* Run arduino from the folder you extracted it previously\n  * cd ~/Downloads/arduino-1.0.6\n  * ./arduino\n* Once Arduino IDE is running, change the Sketchbook folder location to /Documents/Arduino/arbotixmaster or the one you extracted it previously.\n  * File-\u003ePreferences-\u003eSketchbook Location\n  * Tools-\u003eBoard-\u003eArbotix\n  * Tools-\u003eSerial Port-\u003e/dev/ttyUSBX\n  * File-\u003eSketchbook-\u003eArbotix Sketches -\u003eros\n  * Verify + Upload\n* The Arbotix is ready to work with ROS!!\n\n### Downloading the package\n\nclone the repo into your workspace and compile it.\n```\ngit clone https://github.com/RobotnikAutomation/widowx_arm.git\n```\n### Creating the udev rule for the device\n\nIn 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.\n\n```\nsudo cp 58-widowx.rules /etc/udev/rules.d\n```\n\nYou have to set the attribute ATTRS{serial} with the current serial number of the ftdi device\n\n```\nudevadm info -a -n /dev/ttyUSB0 | grep serial \n```\nOnce modified you have to reload and restart the udev daemon\n\n```\nsudo service udev reload\nsudo service udev restart\nsudo udevadm trigger\n```\n\n### Running the controller\n\n```\nroslaunch widowx_arm_controller widowx_arm_controller.launch \n```\n\n### Commanding the controller \n\n```\nrostopic pub /joint_1/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /joint_2/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /joint_3/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /joint_4/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /joint_5/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /gripper_revolute_joint/command std_msgs/Float64 \"data: 0.0\" \nrostopic pub /gripper_prismatic_joint/command std_msgs/Float64 \"data: 0.0\"\n```\n\n### Visualizing the state\n\nLoad the description and run the state publisher\n\n```\nroslaunch widowx_arm_description load_description.launch\n```\n\nOpen the RVIZ tool and add the plugins you need to visualize the arm\n\n```\nrosrun rviz rviz\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Fwidowx_arm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Fwidowx_arm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Fwidowx_arm/lists"}