🦾 OpenMANIPULATOR

Overview

This repository provides an integrated management package for ROBOTIS robotic arms, including:

• OpenMANIPULATOR-Y
• OpenMANIPULATOR-X
• Leader-Follower Manipulator System

With this integration, all Robotis manipulators are managed under a unified package to ensure better compatibility and functionality.

Key Features

This package supports ROS 2 Jazzy and Gazebo Harmonic on Ubuntu 24.04, offering the following functionalities:

• Integration of MoveIt 2 for Enhanced Motion Planning
• Graphical User Interface (GUI) Implementation and Support
• Teleoperation (Teleop) Capabilities
• Leader-Follower Control Mechanism with Gravity Compensation for Imitation Learning

OpenMANIPULATOR User Guide

1. Introduction

The OpenMANIPULATOR-Y is a 6-DOF robotic arm designed for advanced robotic manipulation tasks. This ROS 2 package provides seamless integration, enhanced control, and versatile functionality for simulation and hardware applications.

2. Prerequisites

Supported ROS Version

This package is compatible only with ROS 2 Jazzy. Ensure that ROS 2 Jazzy is properly installed.

Required Packages

Install the following dependencies:

sudo apt-get update && sudo apt-get install -y \
    libboost-all-dev \
    ros-jazzy-hardware-interface \
    ros-jazzy-controller-manager \
    ros-jazzy-ros2-controllers \
    ros-jazzy-tf-transformations \
    ros-jazzy-gz* \
    ros-jazzy-pal-statistics
sudo apt-get install -y ros-jazzy-moveit-* --no-install-recommends

USB Port Permissions

To enable communication with the hardware, add your user to the dialout group:

sudo usermod -aG dialout $USER

A login and logout are required.

Environment Configuration

Set the robot model based on your system:

• om_y_follower – OpenMANIPULATOR-Y with leader-follower functionality.
• om_y – OpenMANIPULATOR-Y as a standalone model.
• om_x – OpenMANIPULATOR-X.

[Caution] Make sure to configure it properly before using the desired mode.

ex) Add the configuration to ~/.bashrc:

echo 'export ROBOT_MODEL=om_y' >> ~/.bashrc
source ~/.bashrc

3. Installation

1. Clone the Repository

Navigate to your ROS 2 workspace and clone the repository:

cd ~/${WORKSPACE}/src

git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git

2. Build the Package

Compile the package using colcon:

cd ~/${WORKSPACE}
colcon build --symlink-install

3. Source the Workspace

source ~/${WORKSPACE}/install/setup.bash

Create and apply udev rules:

ros2 run open_manipulator_bringup y_create_udev_rules # for om_y
ros2 run open_manipulator_bringup x_create_udev_rules # for om_x

4. Execution Commands

Step 1: Choose Your Operating Mode

1️⃣ Leader-Follower Mode

For leader-follower functionality, use:

ros2 launch open_manipulator_bringup ai_teleoperation.launch.py

Ensure proper connection and detection of leader and follower devices.

2️⃣ Standalone Mode

For standalone mode, launch:

ros2 launch open_manipulator_bringup hardware_y.launch.py #for om_y
ros2 launch open_manipulator_bringup hardware_x.launch.py #for om_x

Confirm that hardware is properly connected before execution.

3️⃣ Gazebo Simulation Mode

For Gazebo simulation mode, launch:

ros2 launch open_manipulator_bringup gazebo.launch.py #for om_x and om_y

Ensure that Gazebo Harmonic is properly installed and configured before running the simulation.

Step 2: Extend Functionality

1. Keyboard Teleoperation

Control the manipulator (simulation or hardware) using your keyboard:

ros2 run open_manipulator_teleop keyboard_control_y.py # for om_y
ros2 run open_manipulator_teleop keyboard_control_x.py # for om_x

Joint Control

• 1 / q - Joint 1
• 2 / w - Joint 2
• 3 / e - Joint 3
• 4 / r - Joint 4
• 5 / t - Joint 5
• 6 / y - Joint 6

Gripper Control

• o - Open gripper
• p - Close gripper

2. MoveIt! Launch

Enable MoveIt functionality for advanced motion planning in RViz:

ros2 launch open_manipulator_moveit_config moveit_core.launch.py

Move interactive markers to position the robotic arm, then click Plan and Execute.

3. GUI Control

Launch MoveIt GUI:

ros2 launch open_manipulator_moveit_config move_group.launch.py

Launch the OpenMANIPULATOR GUI:

ros2 launch open_manipulator_gui open_manipulator_y_gui.launch.py # for om_y
ros2 launch open_manipulator_gui open_manipulator_x_gui.launch.py # for om_x

Step 3: Explore GUI Features

Basic Controls

• Start Timer: Activates the system.
• Robot Status: Displays current manipulator state.
• Init Pose: Moves the manipulator to a vertical position.
• Home Pose: Moves the manipulator to a compact, safe position.
• Gripper Open/Close: Opens or closes the gripper.

Task Execution

• Joint Space Tab: Adjust individual joint angles.

• Task Space Tab: Control the end-effector position.

• Task Constructor Tab

  • Read Task: View saved poses.
  • Save Pose: Save current state.
  • Rap: Set task repetition (1–999).
  • Play: Execute saved tasks.
  • Stop: Halt operations.
  • Reset Task: Clear saved tasks.

(Legacy) ROBOTIS e-Manual for OpenMANIPULATOR-X

• ROBOTIS e-Manual

The OpenMANIPULATOR-X operation method is similar to OpenMANIPULATOR-Y, and the e-Manual is currently being updated.