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Please note that this instruction is written for the ROBOTIS official OpenMANIPULATOR-X package. If you are operating a home made OpenMANIPULATOR-X, make sure to configure each DYNAMIXEL as below before operating.
| WARNING The gripper module(ID 15) requires Current based Position Control Mode. Please make sure your DYNAMIXEL model supports the required Operating Mode. |
FAQ
|
1. Launch Controller
After running this section, software controller that controls the OpenMANIPULAOTR-X will be launched and each joint of the OpenMANIPULATOR-X will be locked (Torque On).
| WARNING : Please check each joint position before running OpenMANIPULATOR-X. If joints are set inappropriately, OpenMANIPULATOR-X might not start operating. The picture of OpenMANIPULATOR-X below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque is not enabled. |
Option1. : When operating with U2D2
Close all terminal and enter the command below in the new terminal.
# 1st terminal
$ roscore# 2nd terminal
$ roslaunch open_manipulator_controller open_manipulator_controller.launch
SUMMARY
========
PARAMETERS
* /open_manipulator_controller/control_period: 0.01
* /open_manipulator_controller/using_platform: True
* /rosdistro: melodic
* /rosversion: 1.14.11
NODES
/
open_manipulator_controller (open_manipulator_controller/open_manipulator_controller)
ROS_MASTER_URI=http://localhost:11311
process[open_manipulator_controller-1]: started with pid [2530]
port_name and baud_rate are set to /dev/ttyUSB0, 1000000
Joint Dynamixel ID : 11, Model Name : XM430-W350
Joint Dynamixel ID : 12, Model Name : XM430-W350
Joint Dynamixel ID : 13, Model Name : XM430-W350
Joint Dynamixel ID : 14, Model Name : XM430-W350
Gripper Dynamixel ID : 15, Model Name :XM430-W350
[INFO] Succeeded to init /open_manipulator_controller
if your U2D2 is not /dev/ttyUSB0,
Run the below command
$ roslaunch open_manipulator_controller open_manipulator_controller.launch usb_port:=/dev/ttyUSB?or
change to /dev/ttyUSB0
or
revise launch file to /dev/ttyUSB? :
$ vi ~/catkin_ws/src/open_manipulator/open_manipulator_controller/launch/open_manipulator_controller.launch<launch>
<arg name="usb_port" default="/dev/ttyUSB?"/>
<arg name="baud_rate" default="1000000"/>
<arg name="control_period" default="0.010"/>
<arg name="use_platform" default="true"/>
<node name="open_manipulator_controller" pkg="open_manipulator_controller" type="open_manipulator_controller"
output="screen" args="$(arg usb_port) $(arg baud_rate)">
<param name="control_period" value="$(arg control_period)"/>
<param name="using_platform" value="$(arg use_platform)"/>
</node>
</launch>
Option1. : When operating with OpenCR
not tested
2. Keyboard Teleoperation
Open another terminal and enter below command.
# 3rd terminal
$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.11
* /teleop_keyboard/end_effector_name: gripper
NODES
/
teleop_keyboard (open_manipulator_teleop/open_manipulator_teleop_keyboard)
ROS_MASTER_URI=http://localhost:11311
process[teleop_keyboard-1]: started with pid [3565]
[ INFO] [1630032262.304191625]: OpenManipulator teleoperation using keyboard start
---------------------------
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: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
---------------------------
ref.
https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation/
ROBOTIS e-Manual
emanual.robotis.com
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