| | 1 | = Barrett-ros-pkg Installation Instructions = |
| | 2 | |
| | 3 | == Install barrett-ros-pkg on WAM Control PC == |
| | 4 | |
| | 5 | These instructions assume a ROS installation on a Barrett WAM control PC. [[br]] |
| | 6 | [[http://support.barrett.com/wiki/WAM/InstallROS| WAM ROS Installation Instructions]] |
| | 7 | |
| | 8 | {{{ |
| | 9 | #Check out the latest barrett-ros-pkg into your ROS Workspace |
| | 10 | |
| | 11 | svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg |
| | 12 | }}} |
| | 13 | |
| | 14 | Please note the stacks within the repository:[[br]][[br]] |
| | 15 | ''' wam_common '''[[br]][[br]] |
| | 16 | This package contains the portions of the barrett-ros-pkg required for both the WAMs real-time control PC and interfacing PCs. |
| | 17 | '''wam_msgs''' - Contains messages for the 'real-time' interface with the wam_node. The wam_node subscribes to the messages within this directory.[[br]][[br]] |
| | 18 | '''wam_srvs''' - Contains WAM and BarrettHand specific services such as joint, cartesian, and pose position and velocity commands as well as other useful services.[[br]][[br]] |
| | 19 | '''wam_teleop''' - Contains a simple joy teleoperation for control of the WAM arm and BarrettHand. |
| | 20 | |
| | 21 | ''' wam_robot '''[[br]][[br]] |
| | 22 | This package contains the portions of the barrett-ros-pkg specific to the WAM robot. |
| | 23 | '''wam_node''' - The libbarrett wrapper exposing various functionality of the WAM and BarrettHand to ROS.[[br]][[br]] |
| | 24 | {{{ |
| | 25 | # To launch the wam_node |
| | 26 | roslaunch wam_node wam_node |
| | 27 | }}} |
| | 28 | |
| | 29 | To view available services and messages.[[br]] |
| | 30 | {{{ |
| | 31 | rostopic list |
| | 32 | rosservice list |
| | 33 | }}} |
| | 34 | |
| | 35 | |
| | 36 | '''Compilation''' - Assumes an installation of the latest libbarrett software. |
| | 37 | {{{ |
| | 38 | roscd wam_node |
| | 39 | rosmake |
| | 40 | }}} |
| | 41 | |
| | 42 | == Install barrett-ros-pkg on another ROS PC== |
| | 43 | {{{ |
| | 44 | #Check out the latest barrett-ros-pkg into your ROS Workspace |
| | 45 | |
| | 46 | svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg |
| | 47 | }}} |
| | 48 | |
| | 49 | Configuration of the ROS environment will allow for control of the WAM through the available services and messages provided by the wam_node. |
| | 50 | |
| | 51 | The only stack necessary to develop an interface to these exposed messages and services is wam_common. |
| | 52 | |
| | 53 | For more information on configuring your ROS environment:[[br]] |
| | 54 | [[http://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironment| ROS Environment Configuration]][[br]] |
| | 55 | [[http://www.ros.org/wiki/ROS/EnvironmentVariables| ROS Environment Variables]] |
| | 56 | |
| | 57 | Further documentation and tutorials coming soon to ros.org. |
