[OpenManipulator-X][Dashing] 1. Setup

In order to run this guide, you should be prepared with below items.

 

• OpenMANIPULATOR-X

 

• Communication Interface
  • Option 1 : DYNAMIXEL Starter Set
  • Option 2 : OpenCR1.0

 

• Power supply
  • ROBOTIS SMPS 12V 5A PS-10 recommended (included in the DYNAMIXEL Starter Set)

 

 

NOTE : The test is done on ROS 2 Dashing Diademata installed in Ubuntu 18.04. Make sure ROS dependencies are installed before performing these instructions. - Install ROS 2 Packages

 

WARNING : If you would like to control OpenMANIPULATOR-X on OpenCR (Embedded board) instead of using ROS, please set it up as described in OpenCR Setup.

 

1. Install Ubuntu on PC

Download and install Ubuntu 18.04 on your PC.

Tutoral guide will be helpful for you to install Ubuntu Desktop.

• Download Ubuntu
• Tutorial - Install Ubuntu Desktop

 

2-1. Install ROS 2 on PC

As OpenMANIPULATOR-P operates on Robot Operating System(ROS),

it requies to intall ROS 2 Dashing Diademata.

 

The following script will allow you to simplify the ROS 2 installation procedure.

Run the following commands in a terminal window.

After installing ROS 2, please reboot PC.

$ sudo apt update && sudo apt upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_dashing.sh
$ chmod 755 ./install_ros2_dashing.sh
$ bash ./install_ros2_dashing.sh

NOTE: In order to check which packages are installed, please check this link out. install_ros2_dashing.sh

 

If you prefer a manual installation，

following link guides you how to install ROS 2 on your PC

• Manual Installation of ROS 2 Dashing Diademata

 

2-2. Manual Configuration

$ sudo apt install git
$ mkdir -p ~/robotis_ws/src
$ cd ~/robotis_ws
$ colcon build --symlink-install
$ echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
$ echo "source ~/robotis_ws/install/local_setup.bash" >> ~/.bashrc
$ source ~/.bashrc

if you install ROS2 from upper .sh file,

Please revise ~./bashrc

$ vi ~/.bashrc

## Delete
source /opt/ros/dashing/setup.bash
source ~/colcon_ws/install/local_setup.bash

 

 

3. Install OpenMANIPULATOR-X Packages

Install dependent packages for OpenMANIPULATOR-X.

Run the following commands in a terminal window.

$ sudo apt install ros-dashing-python* ros-dashing-rqt*

$ cd ~/robotis_ws/src/  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench.git  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator.git  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git  
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/robotis_manipulator.git  
$ cd ~/robotis_ws && colcon build --symlink-install

 

 

4. Communication Converter

4. 1. U2D2

4. 1. 1. Connection

Connect micro USB (connected to PC), DYNAMIXEL’s(OpenMANIPULATOR-X), and 12V Power to U2D2 and U2D2 power hub board as shown below.

NOTE : Please refer to U2D2 e-Manual and U2D2 power hub board e-manual for detailed connection of U2D2 and U2D2 power hub board.

4. 2. 2. USB Latency Timer Setting

In Linux(Ubuntu platform) environment,

USB latency time is set to 16ms by default.

 

Follow the steps below to set the communication latency time to the lowest value (1ms) between DYNAMIXEL’s and PC connected via USB.

 

Open a terminal window and run the following command to set usb latency time.

$ ros2 run open_manipulator_x_controller create_udev_rules

TIP: This entered command set USB latency timer to 1 ms. If you would like to see the setting, run the following command in a terminal. $ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

 

 

 

 

ref.

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros2_setup/#ros-setup

ROBOTIS e-Manual