Robotnik Kobuki Turtlebot 2 - WidowX Arm

Kobuki Turtlebot II. User’s Manual
4.5.3 WidowX Arm
Dependencies:
*ros-kinetic-arbotix*
Set the user permissions:
> sudo usermod -a -G dialout turtlebot
Add the following variable environments into the .bashrc and reload it:
export TURTLEBOT_TOP_PLATE_DEVICE=widowx
Create the udev rule:
> udevadm info -a -n /dev/ttyUSBXX (device connected to the arm)
Get the information of the attribute ATTRS{serial}=="A904NK42".
Create a new rule in /etc/udev/rules.d/58-widowx.rules with the following data:
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001",
ATTRS{serial}=="A904NK42", MODE:="0666", GROUP
:="dialout", SYMLINK+="ttyUSB_WIDOWX"
Run the following commands to restart the udev daemon:
> sudo restart udev
> udevadm trigger
See Appendix 1 - Setting up Arbotix board to configure the Arbotix.
Then start the arm controller with:
> roslaunch widowx_arm_controller widowx_arm_controller.launch
In the widowx_arm_controller.launch are specified two nodes. The first node is the
arbotix_driver node and the second is a node to control the gripper.
To control the aperture of the gripper in linear mode, the range allowed is from 0 to 0.03 m.
You could use the following commands:
rostopic pub /gripper_prismatic_joint/command std_msgs/Float64
“data=0.00” to close the gripper
rostopic pub /gripper_prismatic_joint/command std_msgs/Float64
“data=0.03” to open the gripper completely.
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