https://github.com/robotnikautomation/widowx_arm
ROS packages to work with the WidowX Arm
https://github.com/robotnikautomation/widowx_arm
Last synced: about 1 year ago
JSON representation
ROS packages to work with the WidowX Arm
- Host: GitHub
- URL: https://github.com/robotnikautomation/widowx_arm
- Owner: RobotnikAutomation
- Created: 2015-09-01T06:45:07.000Z (almost 11 years ago)
- Default Branch: master
- Last Pushed: 2022-06-07T13:55:05.000Z (about 4 years ago)
- Last Synced: 2025-05-16T18:44:04.745Z (about 1 year ago)
- Language: Python
- Size: 87.9 KB
- Stars: 17
- Watchers: 5
- Forks: 25
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# widowx_arm
This ROS package is intended to work with the [WidowX](https://www.roscomponents.com/en/robotic-arms/11-widowx.html#/assembled-no) arm.
* widowx_arm_controller : Controller based on arbotix_python driver to control the 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.
* Download Arduino ide from https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz
* wget https://downloads.arduino.cc/arduino-1.0.6-linux64.tgz
* Extract it into a folder.
* Download the firmware archives from https://github.com/trossenrobotics/arbotix/archive/master.zip
* wget https://github.com/trossenrobotics/arbotix/archive/master.zip
* Extract it into a folder like ~/Documents/Arduino
* Run arduino from the folder you extracted it previously
* cd ~/Downloads/arduino-1.0.6
* ./arduino
* Once Arduino IDE is running, change the Sketchbook folder location to /Documents/Arduino/arbotixmaster or the one you extracted it previously.
* File->Preferences->Sketchbook Location
* Tools->Board->Arbotix
* Tools->Serial Port->/dev/ttyUSBX
* File->Sketchbook->Arbotix Sketches ->ros
* Verify + Upload
* The Arbotix is ready to work with ROS!!
### 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
```