BarretWamArm

Meta Package for tools to use our Barrett Wam Arm in simulation and with hardware.

Launch in Simulation

Simulation tools were developed to improve and/or debug software packages used in demos and/or grasping experiments.

First, launch Gazebo.

roslaunch barrett_wam_arm_control barrett_wam_arm_control.launch

roslaunch barrett_wam_arm_sim empty_world.launch
Launch TF Publisher.

roslaunch tf_publisher tf_publisher_sim.launch
Afterwards, RGB-D images were played back from the ARL AffPose Dataset. A 6-DoF pose was used to command the robot using trac ik in simulation.

roslaunch trac_ik barrett_trac_ik_arl_affpose_simple.launch

Launch for ArUco Demo Video

Main ArUco script: https://github.com/UW-Advanced-Robotics-Lab/barrett-wam-arm/blob/main/barrett_trac_ik/scripts/aruco_demo.py

WAM PC:

First, ensure that the Barrett WAM arm is calibrated.

bt-zero-cal
Launch the WAM node.

roslaunch wam_node wam_node.launch

Jetson TX2 with ZED

Launch ZED camera.

roslaunch zed_ros_wrapper zed.launch
Launch ArUco Node.

roslaunch aruco_ros single.launch
Launch Trac IK.

roslaunch trac_ik aruco_demo.launch