TurtleBot Arm setup

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install turtlebot arm

install dynamixel related:

$sudo apt-get install ros-kinetic-dynamixel-controllers ros-kinetic-dynamixel-driver ros-kinetic-dynamixel-motor ros-kinetic-dynamixel-msgs ros-kinetic-dynamixel-sdk

download turtlebot arm package:

$git clone https://github.com/nkuzqy/move_and_grasp

Attention:

the move_and_grasp package contains all codes needed for manipulation, is better to create a new workspace and put the "src" to this workspace

when using, remember to source this workspace


install moveIt!

$ sudo apt-get install ros-kinetic-moveit

add turtlebot arm to your turtlebot

$roscd turtlebot_description/robots
$gedit kobuki_hexagons_kinect.urdf.xacro 

add this label:

1   <xacro:include filename="$(find turtlebot_arm_description)/urdf/turtlebot_arm.urdf.xacro"/>

modify the place of arm:

$roscd turtlebot_arm_description:
$gedit turtlebot_arm.urdf.xacro 

change like this:

1    <turtlebot_arm parent="plate_top_link" color="White" gripper_color="Black"
2                     pincher_gripper="false" turtlebot_gripper="true">               
3       <!-- Place the "floating" arm at the location it should be if mounted on a turtlebot,
4            as pick and place and other demos assume this location -->
5       <origin xyz="0.12636 0.015 0.158"/>
6     </turtlebot_arm>


visualization

see also in vision system setup