Hello,

I made small tutorials for beginners who might want to get started quickly
with Turtlebot Arm PhantomX Pincher with ROS
http://www.iroboapp.org/index.php?title=Getting_Started_with_Turtlebot_Arm_P
hantomX_Pincher_with_ROS

Indeed, the information is a bit scattered in ROS wiki pages and some docs
are outdated. 
I hope this can still be useful.

Anis