Trossen Arm Description

The Trossen Arm Description package provides description files for the Trossen Arms.

Usage

To visualize the Trossen Arm in RViz, you can use the following command:

source ~/ros2_ws/install/setup.bash
ros2 launch trossen_arm_description display.launch.py robot_model:=wxai use_joint_pub_gui:=true

This will bring up RViz with the Trossen Arm model loaded, allowing you to visualize the arm and its joints. Setting the use_joint_pub_gui launch argument to true launches a GUI that allows users to manually control the arm’s joints.

To further customize the display launch file at runtime, refer to the table below, or run the command below

ros2 launch trossen_arm_description display.launch.py --show-args

Argument	Description	Default	Choices
robot_model	model type of the Trossen Arm.	`wxai`	`wxai`,
use_rviz	launches RViz if set to `true`.	`true`	`true`, `false`
use_joint_pub	launches the joint_state_publisher node.	`false`	`true`, `false`
use_joint_pub_gui	launches the joint_state_publisher GUI.	`true`	`true`, `false`
rvizconfig	file path to the config file RViz should load.	LocalVar(‘FindPackageShare(pkg= `trossen_arm_description`) + ‘rviz’ + ‘trossen_arm_description.rviz’’)
arm_variant	End effector variant of the Trossen Arm.	`base`	`base`, `leader`, `follower`
arm_side	Side of the Trossen Arm. Note that only the wxai follower variant has a left and right side.	`none`	`none`, `left`, `right`
robot_description	URDF of the robot; this is typically generated by the xacro command.	Command(FindExec(`xacro`) + ‘ ‘ + LocalVar(‘FindPackageShare(pkg= `trossen_arm_description`) + ‘urdf’ + LaunchConfig(`robot_model`)’) + ‘.urdf.xacro ‘ + ‘variant:=’ + LaunchConfig(`arm_variant`) + ‘ ‘ + ‘arm_side:=’ + LaunchConfig(`arm_side`) + ‘ ‘)

Next Steps

Now that you are able to visualize the Trossen Arm, you can proceed to the next tutorial to learn how to control the arm using ros2_control in the Trossen Arm Bringup package.