WAM4DOF (SLAX) + WRIST LINKED WITH WAM7DOF (ZEUS)

Connecting to Zeus and Slax

Run from the master computer:

roscore

Connect to Zeus and source to the master computer and advertise services:

ssh robot@192.168.1.10
. ./setup_wam.sh
roslaunch wam_bringup wam_bringup.launch

Connect to Slax, source to the master computer and advertise services:

ssh robot@192.168.1.11
source scripts/ips_USER.txt
rosrun wam_node wam_node

Linking Arms

Run from the master computer:

rosservice call /zeus/wam/link_arm 192.168.1.11
rosservice call /slax/bhand/link_arm 192.168.1.10

Connecting Arduino Wrist

Connect the wrist to the master computer via USB.
Run from the master computer:

rosrun rosserial_python serial_node.py /dev/ttyACM0
rosrun encoder_to_wam_wrist encoder_to_wrist