Robotnik Kobuki Turtlebot 2 - Page 24

Kobuki Turtlebot II. User’s Manual
* /arbotix/joints/arm_5_joint/id: 7
* /arbotix/joints/arm_5_joint/max_speed: 75.0
* /arbotix/joints/arm_gripper_joint/id: 8
* /arbotix/joints/arm_gripper_joint/max_angle: 0
* /arbotix/joints/arm_gripper_joint/max_speed: 114.0
* /arbotix/joints/arm_gripper_joint/min_angle: -90.0
* /arbotix/joints/arm_gripper_joint/range: 180
* /arbotix/port: /dev/ttyUSB0
* /arbotix/rate: 100
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.11.21
NODES
/
arbotix (arbotix_python/arbotix_driver)
phantomx_reactor_controller
(phantomx_reactor_arm_controller/phantomx_reactor_parallel_motor_j
oints.py)
robot_state_publisher (robot_state_publisher/state_publisher)
rviz (rviz/rviz)
ROS_MASTER_URI=http://robotnik-GE70:11311
core service [/rosout] found
process[arbotix-1]: started with pid [16444]
process[phantomx_reactor_controller-2]: started with pid [16445]
process[robot_state_publisher-3]: started with pid [16446]
process[rviz-4]: started with pid [16447]
[INFO] [WallTime: 1496152050.354436] Started ArbotiX connection on
port /dev/ttyUSB0.
[INFO] [WallTime: 1496152050.481723] ArbotiX connected.
Note: In the phantomx_reactor_arm_controller.launch are specified two nodes. The first
node is the arbotix_driver node and the second is a node to control the the parallel joints.
Check that the joint values are being published:
>rostopic echo /joint_states
header:
seq: 3766
stamp:
secs: 1496152501
nsecs: 951384067
frame_id: ''
name: ['arm_1_joint', 'arm_2_1_joint', 'arm_2_joint',
'arm_3_1_joint', 'arm_3_joint', 'arm_gripper_joint',
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