https://github.com/robotnikautomation/widowx_turret
Widowx Turret MX-28 ROS packages
https://github.com/robotnikautomation/widowx_turret
Last synced: 3 months ago
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Widowx Turret MX-28 ROS packages
- Host: GitHub
- URL: https://github.com/robotnikautomation/widowx_turret
- Owner: RobotnikAutomation
- Created: 2017-02-06T10:39:04.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2017-05-31T15:51:15.000Z (about 9 years ago)
- Last Synced: 2025-07-20T15:39:38.042Z (11 months ago)
- Language: CMake
- Size: 249 KB
- Stars: 3
- Watchers: 6
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# widowx_turret
This ROS package is intended to work with the [WidowX](https://www.roscomponents.com/en/pan-tilts/132-widowx-mx-28-robot-turret-kit.html#/assembled-no) and [ScorpionX](https://www.roscomponents.com/en/pan-tilts/134-scorpionx-mx-64-robot-turret-kit.html#/assembled-no) turrets
* widowx_turret_controller : Controller based on arbotix_python driver to control de turret
* widowx_turret_description : Description of the turret
## 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_turret.git
```
### Creating the udev rule for the device
In 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.
```
sudo cp 60-widowx_turret.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_turret_controller widowx_turret_controller.launch
```
### Commanding the controller
```
rostopic pub /servo_pan_joincommand std_msgs/Float64 "data: 0.5"
rostopic pub /servo_tilt_joincommand std_msgs/Float64 "data: 0.5"
```
### Visualizing the state
Load the description and run the state publisher
```
roslaunch widowx_turret_description load_description.launch
```
Open the RVIZ tool and add the plugins you need to visualize the arm
```
rosrun rviz rviz
```