Launch Files

 launch/arm.launch 

  • Brings up the arbotix driver for interfacing with the arbotix board and publishing joint states.

 launch/fake-arm.launch 

  • Simulation version of arm.launch. Starts a fake version of the arbotix driver that just changes joint states values.

 launch/simple_arm_server.launch 

 launch/constraint_aware_simple_arm_server.launch 

  • Brings up the simple_arm_server for doing position control of the gripper using constraint aware IK.

Configuration Files

 config/arm.yaml 

  • See the documentation for the arbotix_python package for a description of the parameters.

 config/planning_environment.yaml 

  • Configuration for IK.

Wiki: turtlebot_arm_bringup (last edited 2014-08-25 12:01:58 by Jorge Santos)