Robotnik Kobuki Turtlebot 2 - Page 23

Kobuki Turtlebot II. User’s Manual
*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=reactor_wrist
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/59-reactor.rules with the following data:
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001",
ATTRS{serial}=="A904NK42", MODE:="0666", GROUP
:="dialout", SYMLINK+="ttyUSB_REACTOR"
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 turtlebot_bringup
arbotix_phantomx_reactor_arm_wrist.launch
SUMMARY
========
PARAMETERS
* /arbotix/joints/arm_1_joint/id: 1
* /arbotix/joints/arm_1_joint/max_speed: 75.0
* /arbotix/joints/arm_2_1_joint/id: 3
* /arbotix/joints/arm_2_1_joint/max_speed: 75.0
* /arbotix/joints/arm_2_joint/id: 2
* /arbotix/joints/arm_2_joint/max_speed: 75.0
* /arbotix/joints/arm_3_1_joint/id: 5
* /arbotix/joints/arm_3_1_joint/max_speed: 75.0
* /arbotix/joints/arm_3_joint/id: 4
* /arbotix/joints/arm_3_joint/max_speed: 75.0
* /arbotix/joints/arm_4_joint/id: 6
* /arbotix/joints/arm_4_joint/max_speed: 75.0
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