The Kurdish Peoples' Protection Units (YPG) militia applauded a "historic" move that would speed up the defeat of Islamic State (IS) extremists but the issue risks stoking tensions between the two NATO allies ahead of Erdogan's critical visit to Washington.
The YPG is seen by Washington as the best ally against Islamic State group jihadists in Syria and the prime attacking force in any upcoming assault on their stronghold of Raqa.
"I hope very much that this mistake will be reversed immediately," Erdogan said in Ankara alongside Sierra Leone counterpart Ernest Bai Koroma.
"I will personally express our worries in a detailed way when we talk with President Trump on May 16," he added, saying the issue would also be discussed at the NATO summit in Brussels on May 25.
"We want to believe that our allies would prefer be side by side with ourselves rather than with the terror groups," he added.
Pentagon chief Jim Mattis sought to allay Turkish concerns, saying at a news conference in Lithuania the US would work very closely with Turkey over security on its border with Syria.
"We have very open discussions about options and we will work together, we will work out any of the concerns," he said.
In a surprise announcement, the Pentagon had said Trump had authorised the arming of Kurdish fighters within the Syrian Democratic Forces (SDF) "to ensure a clear victory over ISIS in Raqa".
YPG spokesman Redur Xelil described the move as "somewhat late", but would still "provide a strong impetus" to all forces fighting IS.
The SDF, a US-backed group dominated by YPG but which also contains Arab elements, said that receiving US arms and military equipment would "hasten the defeat" of the jihadists.
It remains to be seen what shadow the issue will cast over the talks between Trump and Erdogan, which have been touted as chance to forge a new partnership between the two NATO allies.
The timing of the announcement was especially delicate as a high-level Turkish delegation including Chief of Staff General Hulusi Akar, presidential spokesman Ibrahim Kalin and Turkey's spy chief Hakan Fidan had been in the US laying the groundwork for the meeting.
According to the New York Times, the delegation was informed of the decision to arm the YPG by Trump's national security adviser H R McMaster.
Turkish media said the three met McMaster at the White House on Monday but gave no details over the content of the talks.
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