yoneken / gaze_arm

A cheap ROS arm.

Gaze Arm

Gaze Arm is a cheap robot arm controlled with ROS.

Hardware

• GWS Micro 2BBMG - Micro Servo x2
• Servo bracket x2
• Smart phone holder
• USB webcam
• AC adapter
• Intel Edison
• PC (Ubuntu recommended)

Software

• ROS
• Gazebo
• libmraa
• ros_gpio

Launch

Both PC and Edison

1. Install ROS (PC: Desktop-Full, Edison: Bare Bones), libmraa.
2. Add ros_gpio node.
3. $ cd ros_source_folder
4. $ wstool set --git ros_gpio https://github.com/yoneken/ros_gpio.git
5. $ wstool update ros_gpio

on PC

1. Install Gazebo.
2. Add gaze_arm node.
3. $ cd ros_source_folder
4. $ wstool set --git gaze_arm https://github.com/yoneken/gaze_arm.git
5. $ wstool update gaze_arm
6. Make nodes.
7. $ make_catkin_isolated --install --pkg ros_gpio gaze_arm
8. Set ROS_MASTER_URI and ROS_IP. For example, IP address of your PC is XXX.XXX.XXX.XXX:
9. $ export ROS_MASTER_URI="http://XXX.XXX.XXX.XXX:11311"
10. $ export ROS_IP="XXX.XXX.XXX.XXX"
11. Set parmeter for gscam.
12. $ export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb ! ffmpegcolorspace"
13. Launch gaze_arm node.
14. $ roslaunch gaze_arm gaze_arm.launch

on Edison

1. Make ros_gpio node.
2. $ make_catkin_isolated --install --pkg ros_gpio
3. Set ROS_MASTER_URI and ROS_IP. For example, IP address of your Edison is YYY.YYY.YYY.YYY:
4. $ export ROS_MASTER_URI="http://XXX.XXX.XXX.XXX:11311"
5. $ export ROS_IP="YYY.YYY.YYY.YYY"
6. Connect servo motors' signal pin to Edison's 5 and 6 pin.
7. Run ros_gpio node.
8. $ rosrun ros_gpio srv_server

Now. You can control the arm to type "i", ",", "j", and "l" keys. In gazeno, the simulation model is moved synchronously with the real robot.

Arm structure