{"id":21103169,"url":"https://github.com/robotnikautomation/widowx_turret","last_synced_at":"2026-03-19T18:53:12.688Z","repository":{"id":141532195,"uuid":"81076530","full_name":"RobotnikAutomation/widowx_turret","owner":"RobotnikAutomation","description":"Widowx Turret MX-28 ROS 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[ScorpionX](https://www.roscomponents.com/en/pan-tilts/134-scorpionx-mx-64-robot-turret-kit.html#/assembled-no) turrets\n\n* widowx_turret_controller : Controller based on arbotix_python driver to control de turret\n* widowx_turret_description : Description of the turret\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_turret.git\n```\n### Creating the udev rule for the device\n\nIn the widowx_turret_controller/config folder there's the file 60-widowx_turret.rules. You have to copy it into the /etc/udev/rules.d folder.\n\n```\nsudo cp 60-widowx_turret.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_turret_controller widowx_turret_controller.launch\n```\n\n### Commanding the controller \n\n```\nrostopic pub /servo_pan_joincommand std_msgs/Float64 \"data: 0.5\" \nrostopic pub /servo_tilt_joincommand std_msgs/Float64 \"data: 0.5\" \n```\n\n### Visualizing the state\n\nLoad the description and run the state publisher\n\n```\nroslaunch widowx_turret_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\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Fwidowx_turret","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Fwidowx_turret","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Fwidowx_turret/lists"}