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ROS-Based 8-DOF Arm Manipulator

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README.markdown

CLAM Arm Manipulator

  • Author: Dave Coleman davetcoleman@gmail.com
  • Website: correll.cs.colorado.edu
  • License: GNU General Public License, version 3 (GPL-3.0)
  • Date: 12/27/2011

Controls for the robotic arm in the Correll Lab at the University of Colorado Boulder. Special thanks to Antons Rebguns and his similar work at the University of Arizona.

BUILDING

1) Download CLAM

    git clone git@github.com:DaveTColeman/CLAM.git

2) Install Stack Dependencies

Package dynamixel_hardware_interface:

   www.ros.org/browse/details.php?name=dynamixel_hardware_interface

Package control_msgs:

   www.ros.org/wiki/control_msgs

Package gearbox:

   www.ros.org/browse/details.php?name=gearbox

3) Build the stack

    rosmake clam

4) Setup the Dynamixel2USB controllers

  • Copy the file /setup/50-usb-serial.rules to /etc/udev/rules.d/

  • Disable a conflicting system udev rule if necessary located at /lib/udev/rules.d/95-upower-wup.rules

RUN

    roslaunch clam_description clam_description.launch

TEST

    roscd clam_controller/scripts
    python animate_all.py
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