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Interbotix WidowX-250 Quick Start Manual

Robot arm
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Interbotix X-Series Arm & Raspberry Pi 4 Quickstart

Introduction

Congrats on getting your new Raspberry Pi 4 and X-Series Arm!
In just a matter of minutes, you will be ready to start your manipulation project. This Quickstart
Guide will cover installing all necessary software packages, getting connected to your Arm, and
some troubleshooting steps if something goes wrong.
The password for the Pi is
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Summary of Contents for Interbotix WidowX-250

  • Page 1: Table Of Contents

    Interbotix X-Series Arm & Raspberry Pi 4 Quickstart Introduction Congrats on getting your new Raspberry Pi 4 and X-Series Arm! In just a matter of minutes, you will be ready to start your manipulation project. This Quickstart Guide will cover installing all necessary software packages, getting connected to your Arm, and some troubleshooting steps if something goes wrong.

  • Page 2: Hardware Requirements

    Hardware Requirements To continue with this guide, you will need the following: ● 1x X-Series Interbotix Robot Arm Kit (including onboard U2D2 and X-Series power hub) ● 1x Raspberry Pi 4B (4GB RAM) Kit Hardware Setup Follow the steps below to prepare your robot’s hardware for usage: 1.

  • Page 3: Ps4 Controller Setup

    PS4 Controller Setup 1. Once the Pi boots, click the Bluetooth icon on the top right of your Desktop, followed by Setup New Device. 2. A window should pop up welcoming you to the Bluetooth Device Setup Assistant. Click the Next button. 3.

  • Page 4: Install Interbotix X-Series Arm Ros Packages

    Install Interbotix X-Series Arm ROS Packages To install the ROS packages, open a terminal (Ctrl+Alt+T), and type the following four commands in sequence (first make sure to connect to the Internet). sudo apt install curl curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/ interbotix_ros_xsarms/install/rpi4/xsarm_rpi4_install.sh' > xsarm_rpi4_install.sh chmod +x xsarm_rpi4_install.sh...

  • Page 5: Connecting To The Robot Arm

    You will be prompted . This program is “Run the Joystick ROS package at system boot?” what allows you to control the arm with the PS4 controller without having to directly interact with the RPi. By typing ` ` or ` `, the Pi will automatically start this program when turned on.

  • Page 6: Troubleshooting

    Troubleshooting If your PS4 controller isn’t working… ● Verify that the controller is paired with the Pi by confirming that the LED on the front of the controller is blue. If it’s flashing white or not on, try repeating the PS4 Controller Setup.

  • Page 7: Ps3 & Ps4 Button Mappings

    PS3 & PS4 Button Mappings Button Action START / OPTIONS move the robot to its Home pose SELECT/SHARE move the robot to its Sleep pose rotate the 'waist' joint clockwise rotate the 'waist' joint counterclockwise Triangle increase gripper pressure in 0.125 step increments (max is 1) decrease gripper pressure in 0.125 step increments (min is 0) open gripper Square...

  • Page 9: Other Info

    Pi is configured to automatically connect to this network when it’s available. To review the software and/or look at other questions customers have asked, please take a look at our GitHub page: https://github.com/Interbotix/interbotix_ros_manipulators. To see more documentation, visit: https://www.trossenrobotics.com/docs/interbotix_xsarms/index.html.

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