Interbotix Tutorials: X-Series Arms | Arm Control Package for ROS 2
An in-depth look at the interbotix_xsarm_control ROS 2 package. The control package contains configuration files and launch files to start up the control program for the Interbotix X-Series Arms.
0:00 Intro
0:35 Config
3:29 Config Modes
4:11 Demos
4:35 Launch directory
5:40 ROS 2 Open Source Packages
7:15 Launching the pakcage
8:16 RQT graph
8:50 Topic list
9:57 ROS 2 Service list
15:29 Simulated Dynamixel Driver
Learning Outcomes
- Know the contents of the xsarm_control package
- Know how to use the xsarm_control package to use your Interbotix X-Series Arm
Links
Package Source: https://github.com/Interbotix/interbo...
Package Docs: https://www.trossenrobotics.com/docs/...
Motor Config Template: https://github.com/Interbotix/interbo...
Mode Config Template: https://github.com/Interbotix/interbo...
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