Following is a procedure for a simple test of two trajectories with the Katana 300. Should there be any issues, please contact me. (My email address is on my Git profile page.)

Make sure you have hydro installed. If not sudo apt-get install ros-hydro-desktop-full

Make sure you are using hydro: echo $ROS_DISTRO

mkdir -p $HOME/ROS_katana/src
cd $HOME/ROS_katana/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash
cd src

sudo apt-get install ros-hydro-control-msgs  ros-hydro-pr2-controllers libarmadillo-dev ros-hydro-convex-decomposition ros-hydro-moveit-msgs

Warning: There could me more dependencies needed. If there is an error during make, it will tell you which dependency is missing, please install it using the sudo apt-get install ros-hydro-

cd katana_300_ros
rosmake katana
rosmake katana_tutorials

If you are using a USB to serial converter:

sudo chmod a+rw /dev/ttyUSB0
sudo ln -sf /dev/ttyUSB0 /dev/ttyS3

Otherwise the port number ( dev/ttys# ) can be set in the file: /katana/launch/katana_300_6m180.launch

Put the following in your .bashrc..

cd
gedit .bashrc

At the end of the file copy:

export KATANA_TYPE="katana_300_6m180"
source /opt/ros/hydro/setup.bash
source /home/ROS_katana/devel/setup.bash

Save and close gedit.

source .bashrc

Open new terminal window and

roslaunch katana katana.launch

Open new terminal window and

roslaunch katana_tutorials follow_joint_trajectory_client.launch

Before running the following command make sure you are near the emergency stop button (or shutdown) and push it in case the Katana is headed for a collision.

Open new terminal window and

rostopic pub /katana/start_trajectory std_msgs/Bool 1

This should start the first trajectory with the Katana. After it is done: Ctrl + c or close the terminal window.

Open new terminal window and

rostopic pub /katana/start_trajectory2 std_msgs/Bool 1

The Katana should now return to the initial (calibration) position.

This stack contains ROS hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:

• JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
• simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
• URDF descriptions (package katana_description),
• simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
• some demo programs (package katana_tutorials).

For more information, visit the katana_driver ROS wiki page.