udev. Open a new
/dev/ttyDXLpath. You can check it by typing:
interbotix_sdkpackage) and the URDF description (
interbotix_descriptionspackage). To speed up the building process, remove the unwanted packages:
rosdepto install any dependent packages:
#sign and add the source command for your workspace. The first 2 lines should look essentially like this:
/wx250namespace. For a full description of the ROS API, visit the interbotix_sdk README page. You can test some of the features with the
leo_descriptionrepositories into the source space:
sourcethe devel space to make the new packages visible in your shell environment:
rvizin the terminal.
base_linkas the Fixed Frame.
use_moveitparameter for the arm driver set to
interbotix_armfor the Planning Group and
<current>for the Start State.
upright. To set the pose manually, navigate to the DIsplays panel -> MotionPlanning - > Planning Request and check
Query Goal State. You should now be able to manually set the end-effector pose for the goal state.
interbotix_joy_controlexample package provides the capability to control the movement of the arm (utilizing inverse kinematics) with a PS3, PS4 or an Xbox 360 joystick.
pwmmode for the gripper and is more suited to work with the Time-Based-Profile. Here are the settings that work well:
xbox360depending on the joystick you have connected.
interbotix_sdkpackage also provides a Python API for manipulating the arm. It is designed to mainly work with the
positionmode for the arm,
pwmmode for the gripper and the Time-Based-Profile. For a start, you can set the same parameters for the driver as in the previous example.
bartender.pydemo performs some pick, pour and place operations. To run it, first open the file in a text editor and search for this line:
wx250and then type on the terminal: