= 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. [[br]] [[http://support.barrett.com/wiki/WAM/InstallROS| WAM ROS Installation Instructions]] {{{ #Check out the latest barrett-ros-pkg into your ROS Workspace svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg }}} Please note the stacks within the repository:[[br]][[br]] ''' wam_common '''[[br]][[br]] 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.[[br]][[br]] '''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]] '''wam_teleop''' - Contains a simple joy teleoperation for control of the WAM arm and BarrettHand. ''' wam_robot '''[[br]][[br]] 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.[[br]][[br]] {{{ # To launch the wam_node roslaunch wam_node wam_node }}} To view available services and messages.[[br]] {{{ 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== {{{ #Check out the latest barrett-ros-pkg into your ROS Workspace svn co http://web.barrett.com/svn/barrett-ros-pkg/trunk barrett-ros-pkg }}} 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:[[br]] [[http://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironment| ROS Environment Configuration]][[br]] [[http://www.ros.org/wiki/ROS/EnvironmentVariables| ROS Environment Variables]] Further documentation and tutorials coming soon to ros.org.