Omron Mobile Manipulator

Original packages are from OmronAPAC

This repository allows controlling the Base, Arm and Gripper of the Omron Mobile Manipulator using packages,

• omron_arm package
• omron_base package
• omron_gripper package

For supported features and limitations, see the individual repositories on the features supported by the MoMa.

Setup

Create a workspace

mkdir -p omron_ws/src
cd omron_ws/src

Install dependencies

sudo apt install ros-humble-moveit ros-humble-controller-manager ros-humble-joint-trajectory-controller ros-humble-joint-state-broadcaster ros-humble-rmw-cyclonedds-cpp ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-vision-opencv ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-toolbox

pip install pymodbus

Clone the repositories into the src folder by

git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git
git clone https://github.com/CollaborativeRoboticsLab/omron_base.git
git clone https://github.com/CollaborativeRoboticsLab/omron_gripper.git
git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git

finally build by

cd ..
colcon build

or save time and use devcontainer

Usage

Start the system headless

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py

Start the system with RVIZ

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py use_rviz:=true

Start the system with arm in simulation mode

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py tm_use_simulation:=true

Docker

Clone this reposiotory

git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git 
cd omron_moma/docker

Pull the Docker image and start compose (No need to run docker compose build)

docker compose pull
docker compose up

To clean the system,

docker compose down

To generate a new urdf file,

1. Define a xacro file within moma_description/xacro that imports and customises parts and joints as reqired.
2. Run the following command to generate the urdf file. replace the <filename> with required name.

ros2 run xacro xacro src/omron_moma/moma_description/xacro/<filename>.urdf.xacro -o <filename>.urdf

eg

ros2 run xacro xacro src/omron_moma/moma_description/xacro/ld250_tm12x.urdf.xacro -o ld250_tm12x.urdf

3. This would generate the file in the root of the workspace. Move the file into moma_description/urdf folder

To Do List

• Update launch files to use standard parameters and remove non-launch related python code
• Create cascadeing launch files for TMDriver, Moveit and RVIZ, AMR base and RVIZ