13. Manipulation

Note

This instruction was tested on Ubuntu 16.04, Linux Mint 18.1 and ROS Kinetic Kame.

Note

If you want more specfic information about OpenManipulator, you would follow official wiki page of OpenManipulator. https://github.com/ROBOTIS-GIT/open_manipulator



Tip

The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for terminal is Ctrl-Alt-T.

Install dependent packages for the Open-Manipulator.

sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core
cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
cd ~/catkin_ws && catkin_make

If catkin_make command is completed without any errors, the preparation for Open-Manipulator is done.

13.1. Gazebo (3D)

Below command will load the Open-Manipulator on Gazebo environment.

roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
_images/open_manipulator_gazebo_1.png

In order to control Open-Manipulator, please use topic publish with below command in a new terminal window.

rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once
_images/open_manipulator_gazebo_2.png

In order to run Open-Manipulator simulation with MoveIt!, open a new terminal window and enter below command.

roslaunch open_manipulator_moveit open_manipulator_demo.launch use_gazebo:=true
_images/open_manipulator_moveit_sim_1.png _images/open_manipulator_moveit_sim_2.png

In order to control gripper, please use topic publish with below command in a new terminal window.

rostopic pub /robotis/open_manipulator/gripper std_msgs/String "data: 'grip_on'" --once
_images/open_manipulator_gripper.png

13.2. Platform

Below command will load the Open-Manipulator with DYNAMIXEL X-series.

roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch

In order to run Open-Manipulator simulation with MoveIt!, open a new terminal window and enter below command.

roslaunch open_manipulator_moveit open_manipulator_demo.launch
_images/open_manipulator_moveit_real_1.png _images/open_manipulator_moveit_real_2.jpg _images/open_manipulator_moveit_real_3.png _images/open_manipulator_moveit_real_4.jpg

13.3. TurtleBot3 Waffle with Open-Manipulator

Install dependent packages for the Open-Manipulator.

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make

Below command will load the TurtleBot3 Waffle with Open-Manipulator on Rviz.

roslaunch open_manipulator_with_tb3 open_manipulator_chain_with_tb3_rviz.launch
_images/TurtleBot3_with_Open_Manipulator.png