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I would definitely start with installing electric and doing the electric arm_navigation tutorials, especially if you interested in getting Willow Garage's arm_navigation code working with your arm. There are new tools in electric designed to get things working quickly and easily, whereas in diamondback the process was much more difficult. All of the tools should work with debians without need for code overlays.

Let us know if you have any problems, and I'll be interested to see how the tools work with a 9-dof arm - I haven't tried anything higher than 7-dof.