[OpenManipulator-X][Dashing] 3. Operation

1. Teleoperation

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 Make sure to run OpenMANIPULATOR controller instructions before use of the instruction

 

1. 1. Keyborad

TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Open the terminal and Run controller

$ ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py

 

Open another terminal and Run below:

 

Launch open_manipulator_x_teleop_keyboard node for simple teleoperation test using the keyboard.

If the node is successfully launched, the following instruction will appear in the terminal window.

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_keyboard

-----------------------------
Control Your OpenManipulator!
-----------------------------
w : increase x axis in task space
s : decrease x axis in task space
a : increase y axis in task space
d : decrease y axis in task space
z : increase z axis in task space
x : decrease z axis in task space

y : increase joint 1 angle
h : decrease joint 1 angle
u : increase joint 2 angle
j : decrease joint 2 angle
i : increase joint 3 angle
k : decrease joint 3 angle
o : increase joint 4 angle
l : decrease joint 4 angle

g : gripper open
f : gripper close
       
1 : init pose
2 : home pose
       
q to quit
---------------------------
Present Joint Angle J1: 0.060 J2: -0.854 J3: 0.158 J4: 0.804
Present Kinematics Position X: 0.151 Y: 0.008 Z: 0.245
---------------------------

 

https://youtu.be/zni39gwCfkk

 

 

ref.

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros2_operation/#ros-operation

ROBOTIS e-Manual