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ROS Example

NOTE:

  • This instructions has been tested on Ubuntu 16.04 and ROS Kinetic Kame.
  • This instructions are supposed to be running on PC ROS packages installed in. Please run the instructions below on your PC ROS packages installed in.

NOTE: 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.

Manipulator Manager

Bring up the robot in Rviz

$ roslaunch manipulator_h_bringup robotis_manipulator.launch   

Run manipulator manager

$ sudo bash
[sudo] password for robotis:   
# roslaunch manipulator_h_manager manipulator_h_manager.launch   

If the manipulator manger has been launched successfully, the terminal will show the following message.

SUMMARY
========

PARAMETERS
 * /gazebo: False
 * /gazebo_robot_name: robotis_manipulat...
 * /init_file_path: /home/user/catkin...
 * /offset_table: /home/user/catkin...
 * /robot_file_path: /home/user/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    manipulator_h_manager (manipulator_h_manager/manipulator_h_manager)

ROS_MASTER_URI=http://localhost:11311

process[manipulator_h_manager-1]: started with pid [19408]
[ INFO] [1552279834.246020783]: manager->init
/dev/ttyUSB0 added. (baudrate: 1000000)
(/dev/ttyUSB0) [ID:  1] H54-200-S500-R added. 
(/dev/ttyUSB0) [ID:  2] H54-200-S500-R added. 
(/dev/ttyUSB0) [ID:  3] H54-100-S500-R added. 
(/dev/ttyUSB0) [ID:  4] H54-100-S500-R added. 
(/dev/ttyUSB0) [ID:  5] H42-20-S300-R added. 
(/dev/ttyUSB0) [ID:  6] H42-20-S300-R added. 
[ INFO] [1552279834.361381084]: Load offsets...

TIP:

  • If you can’t load Dynamixels, please check your Dynamixels settings using this page.

GUI Program

Run GUI program

You can use the GUI program to manipulate the Manipulator-H.

$ rosrun manipulator_h_gui manipulator_h_gui

To control manipulator, first click the set mode button.

Set the manipulator to initial pose, click the go to initial pose button.

To check the joint angles of the manipulator, click the Get current joint values button. And To check the pose in the task space, click the Get current pose button.

To move the manipulator in the joint space. Enter the joint angles. Then click the Send Des Joint Val. button. And, to move the manipulator in the task space. Enter the kinematics pose of the end-effector(tool) in the task space. Then click the Send Des Pos. button.

Simulation

NOTE:

  • The test is done on ROS Kinetic Kame installed in Ubuntu 16.04.
  • Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages

Launch Gazebo

Load the manipulator on Gazebo simulator and click on Play button.

$ roslaunch manipulator_h_gazebo manipulator_h_gazebo.launch   

Manipulator manager for Gazebo simulator

$ roslaunch manipulator_h_manager manipulator_h_manager_gazebo.launch 

If the manipulator manger has been launched successfully, the terminal will show the following message.

SUMMARY
========

PARAMETERS
 * /gazebo: True
 * /gazebo_robot_name: robotis_manipulat...
 * /init_file_path: /home/user/catkin...
 * /offset_table: /home/user/catkin...
 * /robot_file_path: /home/user/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    manipulator_h_manager (manipulator_h_manager/manipulator_h_manager)

ROS_MASTER_URI=http://localhost:11311

process[manipulator_h_manager-1]: started with pid [19408]
[ INFO] [1552279834.246020783]: manager->init
/dev/ttyUSB0 added. (baudrate: 1000000)
(/dev/ttyUSB0) [ID:  1] H54-200-S500-R added. 
(/dev/ttyUSB0) [ID:  2] H54-200-S500-R added. 
(/dev/ttyUSB0) [ID:  3] H54-100-S500-R added. 
(/dev/ttyUSB0) [ID:  4] H54-100-S500-R added. 
(/dev/ttyUSB0) [ID:  5] H42-20-S300-R added. 
(/dev/ttyUSB0) [ID:  6] H42-20-S300-R added. 
[ INFO] [1552279834.361381084]: Load offsets...