[OpenManipulator-X][Melodic] 2. Setup

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

• OpenMANIPULATOR-X
• Communication Interface (Use either option you prefer)
  • Option 1 : DYNAMIXEL Starter Set
  • Option 2 : OpenCR1.0
• Power supply
  • ROBOTIS SMPS 12V 5A PS-10 recommended (included in the DYNAMIXEL Starter Set)

 

1. Install Ubuntu on PC

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ROS Melodic is supported on Ubuntu 18.04

Download and install Ubuntu 18.04 on your PC.

• Download Ubuntu
• Tutorial - Install Ubuntu Desktop

 

 

2. Install ROS on PC

---

Option 1.

For beginners, it is strongly recommended to install ROS with the script provided in the below command.

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

Option 2.

Manual ROS Installation

https://jstar0525.tistory.com/116

[ROS melodic] Installation

 

 

 

3. Install ROS Packages

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The following commands will download OpenMANIPULATOR-X package source codes and build them.

 

3-1. Install dependent pacakges

$ source ~/.bashrc
$ sudo apt-get install ros-melodic-ros-controllers ros-melodic-gazebo* ros-melodic-moveit* ros-melodic-industrial-core
$ sudo apt-get install ros-melodic-dynamixel-sdk ros-melodic-dynamixel-workbench*
$ sudo apt-get install ros-melodic-robotis-manipulator

3-2. Download and build OpenMANIPULATOR-X packages

$ cd ~/catkin_ws/src/
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
$ cd ~/catkin_ws && catkin_make

 

 

 

4. Communication Interface

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Option 1.  : Use U2D2 as a communication interface

4-1. 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. 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.

 

# 1st terminal
$ roscore

While the roscore running, open a new terminal window and enter the following command to set usb latency time. The command below will set the USB latency to 1 ms.

# 2nd terminal
$ rosrun open_manipulator_controller create_udev_rules

TIP: If you would like to see the current latency, enter the following command in the terminal. $ ls /dev/ttyUSB* /dev/ttyUSB0    /dev/ttyUSB1 # Put in what corresponds to U2D2 $ cat /sys/bus/usb-serial/devices/ttyUSB?/latency_timer 1

 

 

Option 2. : Use OpenCR as a communication interface

not tested

 

 

 

ref.

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/

ROBOTIS e-Manual