Changes between Initial Version and Version 1 of WAM/InstallBarrettRosPkg


Ignore:
Timestamp:
Nov 21, 2012, 4:42:45 PM (7 years ago)
Author:
dc
Comment:

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  • WAM/InstallBarrettRosPkg

    v1 v1  
     1= Barrett-ros-pkg Installation Instructions =
     2
     3== Install barrett-ros-pkg on WAM Control PC ==
     4
     5These 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
     11svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg
     12}}}
     13
     14Please note the stacks within the repository:[[br]][[br]]
     15''' wam_common '''[[br]][[br]]
     16This 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]]
     22This 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{{{
     38roscd wam_node
     39rosmake
     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
     46svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg
     47}}}
     48
     49Configuration of the ROS environment will allow for control of the WAM through the available services and messages provided by the wam_node.
     50
     51The only stack necessary to develop an interface to these exposed messages and services is wam_common.
     52
     53For 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
     57Further documentation and tutorials coming soon to ros.org.