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Note: This tutorial assumes that you have completed the previous tutorials: Assembling the TurtleBot Arm.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Installation Instructions for TurtleBot Arm

Description: Installing the software for the TurtleBot Arm, both on the TurtleBot and on the local machine.

Tutorial Level: INTERMEDIATE

Next Tutorial: turtlebot_arm/Tutorials/SettingUpServos

Introduction

Please note that the turtelbot_arm stack requires that your PC and the TurtleBot are both running electric.

On your PC

Set your directories up

You will need to have a folder to store the packages we are about to check out. We suggest ~/hydro. In order to set up ROS to search ~/hydro for packages, follow the steps below:

mkdir -p ~/hydro/src
echo "export ROS_PACKAGE_PATH=$HOME/hydro/src:$ROS_PACKAGE_PATH" >> ~/.bashrc

arbotix and simple_arms

sudo apt-get update
sudo apt-get install ros-hydro-arbotix

turtlebot_arm

cd ~/hydro/src
git clone https://github.com/corot/turtlebot_arm

Or, at some point, if the changes get pushed back upstream, you can pull from the main repo

cd ~/hydro/src
git clone https://github.com/turtlebot/turtlebot_arm

Build the turtlebot arm code

cd ~/hydro
catkin_make
. ~/.bashrc

On the TurtleBot

You will need to install the same stacks on the TurtleBot, again we suggest in the ~/hydro directory.

arbotix

sudo apt-get update
sudo apt-get install  ros-hydro-arbotix 

turtlebot_arm

mkdir -p ~/hydro/src
cd ~/hydro/src
git clone https://github.com/corot/turtlebot_arm

Build the turtlebot arm code

cd ~/hydro
catkin_make
echo "export ROS_PACKAGE_PATH=$HOME/hydro/src:$ROS_PACKAGE_PATH" >> ~/.bashrc
. ~/.bashrc

Setting up the URDF

Next, we have to set up the TurtleBot's hardware description file (URDF) to include the arm. This is done through the TurtleBot bringup script in /etc/ros/turtlebot.

On the TurtleBot, edit /etc/ros/turtlebot/bringup.launch in your favorite text editor and change it to resemble this:

<launch>
  <param name="turtlebot_node/gyro_scale_correction" value="1.0"/>
  <param name="turtlebot_node/odom_angular_scale_correction" value="1.0"/>

  <include file="$(find turtlebot_bringup)/launch/minimal.launch">
    <arg name="urdf_file" value="$(find xacro)/xacro.py '$(find turtlebot_arm_description)/urdf/arm.urdf.xacro'" />
  </include>

</launch>

The line

    <arg name="urdf_file" value="$(find xacro)/xacro.py '$(find turtlebot_arm_description)/urdf/arm.urdf.xacro'" />

tells the TurtleBot to use the urdf that includes the arm from the turtlebot_arm_description package.

Next Tutorial

The next tutorial, Setting up the Dynamixel Servos, will walk you through programming the firmware on the ArbotiX and setting up the servo IDs.


2019-10-12 13:13