When the Husky is powered-on, the
mbs_husky robot upstart job starts the ros hardware drivers for the Husky.
ssh into the husky.
ssh -X email@example.com
To power-on the
rostopic pub /pwr_relay std_msgs/Bool "data: true" --once
To power-off the
rostopic pub /pwr_relay std_msgs/Bool "data: false" --once
It takes approximately 60 seconds for the arm to power up. On start-up a beep sound can be heard. After 60 seconds two consecutive beep sounds can be heard indicating that the xARM6 has successfully started and can be accessed.
Hardware drivers xARM6¶
To launch the xARM6 hardware driver, run the command:
roslaunch mbs_xarm_robotiq xarm_hardware_driver.launch
Hardware drivers Robotiq Gripper 2f-140¶
To launch the Robotiq 2f-140 hardware driver, run the command:
roslaunch mbs_xarm_robotiq robotiq_hardware_driver.launch
The visualize the robot model.
roslaunch mbs_viz viz.launch