Barrett-ros-pkg Installation Instructions

Install barrett-ros-pkg on WAM Control PC

These instructions assume a ROS installation on a Barrett WAM control PC.
​ WAM ROS Installation Instructions

#Clone the latest barrett-ros-pkg into your ROS Workspace

git clone https://git.barrett.com/software/barrett-ros-pkg.git

Please note the stacks within the repository:

wam_common

This package contains the portions of the barrett-ros-pkg required for both the WAMs real-time control PC and interfacing PCs.

wam_msgs - Contains messages for the 'real-time' interface with the wam_node. The wam_node subscribes to the messages within this directory.

wam_srvs - Contains WAM and BarrettHand specific services such as joint, cartesian, and pose position and velocity commands as well as other useful services.

wam_teleop - Contains a simple joy teleoperation for control of the WAM arm and BarrettHand.

wam_robot

This package contains the portions of the barrett-ros-pkg specific to the WAM robot.

wam_node - The libbarrett wrapper exposing various functionality of the WAM and BarrettHand to ROS.

# To launch the wam_node
roslaunch wam_node wam_node 

To view available services and messages.

rostopic list
rosservice list

Compilation - Assumes an installation of the latest libbarrett software.

roscd wam_node
rosmake

Install barrett-ros-pkg on another ROS PC

#Clone the latest barrett-ros-pkg into your ROS Workspace

git clone https://git.barrett.com/software/barrett-ros-pkg.git

Configuration of the ROS environment will allow for control of the WAM through the available services and messages provided by the wam_node.

The only stack necessary to develop an interface to these exposed messages and services is wam_common.

For more information on configuring your ROS environment:
​ ROS Environment Configuration
​ ROS Environment Variables

Further documentation and tutorials coming soon to ros.org.