Edit on GitHub

[ROS 2] Controller Package

OpenMANIPULATOR-PRO controller provides basic manipulation of OpenMANIPULATOR-PRO. You can control DYNAMIXEL’s of OpenMANIPULATOR-PRO and check states of OpenMANIPULATOR-PRO through messages of the controller.

NOTE :

  • The test is done on ROS 2 Dashing Diademata installed in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions. - Install ROS 2 Packages.

Launch Controller

Please, open the Terminal then run the following command.

$ ros2 launch open_manipulator_pro_controller open_manipulator_pro_controller.launch.py

WARNING: It is recommended to place OpenMANIPULATOR-PRO at the following pose and start the controller so that each component of OpenMANIPULATOR-PRO does not conflict.

Follwing message will be shown in the Terminal after the process done successfully.

port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
Joint Dynamixel ID : 1, Model Name : PRO-PLUS-H54P-200-S500-R
Joint Dynamixel ID : 2, Model Name : PRO-PLUS-H54P-200-S500-R
Joint Dynamixel ID : 3, Model Name : PRO-PLUS-H54P-100-S500-R
Joint Dynamixel ID : 4, Model Name : PRO-PLUS-H54P-100-S500-R
Joint Dynamixel ID : 5, Model Name : PRO-PLUS-H42P-020-S300-R
Joint Dynamixel ID : 6, Model Name : PRO-PLUS-H42P-020-S300-R
[INFO] Succeeded to Initialise OpenManipulator-PRO Controller

TIP:

  • If DYNAMIXEL aren’t recoginized, please check firmware with ROBOTIS software (R+ Manager 2.0 or DYNAMIXEL Wizard 2.0)
  • If you would like to change Dynamixel ID, please check open_manipulator_pro.cpp in the open_manipulator_pro_lib folder. The default ID is 11, 12, 13, 14 ,15 and 16 for joints.

NOTE: OpenMANIPULATOR-PRO controller is compatible with Protocol 2.0. Protocol 1.0 doesn’t support SyncRead instructions that access to multiple DYNAMIXEL simultaneously. Protocol 2.0 supports MX 2.0, X, Pro, Pro + series, but it does not support AX, RX and EX.

Check Setting

Manipulator Description

NOTE:

  • The test is done on ROS 2 Dashing Diademata installed in Ubuntu 18.04
  • Make sure ROS dependencies are installed before performing these instructions. - Install ROS 2 Packages.
  • Make sure to run the OpenMANIPULATOR-PRO controller instructions before running the instructions below.

Publish a topic message to check the OpenMANIPULATOR-PRO setting.

$ ros2 topic pub /open_manipulator_pro/option std_msgs/msg/String "data: print_open_manipulator_pro_setting"

<Manipulator Description> will be printed on Terminal.
Launch the open_manipulator_controller. It is shown that present states of the OpenMANIPULATOR-PRO.
This parameter is descripted on OpenMANIPULATOR.cpp in open_manipulator_libs package.
~/robotis_ws/src/open_manipulator_pro/open_manipulator_pro_libs/src/open_manipulator_pro.cpp

----------<Manipulator Description>----------
<Degree of Freedom>
6.000
<Number of Components>
7.000

<World Configuration>
[Name]
-World Name : world
-Child Name : joint1
[Static Pose]
-Position : 
(0.000, 0.000, 0.000)
-Orientation : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
[Dynamic Pose]
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<gripperConfiguration> 
[Component Type]
Tool
[Name]
-Parent Name : joint6
[Actuator]
-Actuator Name : 
-ID :  -1
-Joint Axis : 
(0.000, 0.000, 0.000)
-Coefficient :  -0.015
-Position Limit : 
  Maximum : 0.010, Minimum : -0.010
[Actuator Value]
-Position :  0.000
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.064
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, -0.000
-0.000, -0.000, 0.000)
-Center of Mass : 
(0.036, 0.025, -0.000)
[Variable]
-Position : 
(0.223, -0.000, -0.001)
-Orientation : 
(0.006, -0.004, 1.000
-0.001, 1.000, 0.004
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint1Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : world
-Child Name 1 : joint2
[Actuator]
-Actuator Name : joint_dxl
-ID :  1
-Joint Axis : 
(0.000, 0.000, 1.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  -0.001
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.126)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.098
-Inertia Tensor : 
(0.000, -0.000, -0.000
-0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(-0.000, 0.001, 0.047)
[Variable]
-Position : 
(0.000, 0.000, 0.126)
-Orientation : 
(1.000, 0.001, 0.000
-0.001, 1.000, 0.000
0.000, 0.000, 1.000)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint2Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint1
-Child Name 1 : joint3
[Actuator]
-Actuator Name : joint_dxl
-ID :  2
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.517
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.033)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.139
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, -0.000
-0.000, -0.000, 0.000)
-Center of Mass : 
(0.010, 0.000, 0.102)
[Variable]
-Position : 
(0.000, 0.000, 0.159)
-Orientation : 
(0.869, 0.001, 0.494
-0.001, 1.000, -0.000
-0.494, 0.000, 0.869)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint3Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint2
-Child Name 1 : joint4
[Actuator]
-Actuator Name : joint_dxl
-ID :  3
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.915
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.030, 0.000, 0.264)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.133
-Inertia Tensor : 
(0.000, -0.000, -0.000
-0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.091, 0.000, 0.000)
[Variable]
-Position : 
(0.157, -0.000, 0.374)
-Orientation : 
(0.138, 0.001, 0.990
-0.000, 1.000, -0.001
-0.990, 0.000, 0.138)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint4Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint3
-Child Name 1 : joint5
[Actuator]
-Actuator Name : joint_dxl
-ID :  4
-Joint Axis : 
(1.000, 0.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  -0.007
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.195, 0.000, 0.030)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.213, -0.000, 0.185)
-Orientation : 
(0.138, -0.006, 0.990
-0.000, 1.000, 0.006
-0.990, -0.001, 0.138)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint5Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint4
-Child Name 1 : joint6
[Actuator]
-Actuator Name : joint_dxl
-ID :  5
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.132
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.063, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.222, -0.000, 0.122)
-Orientation : 
(0.006, -0.006, 1.000
-0.001, 1.000, 0.006
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint6Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint5
-Child Name 1 : gripper
[Actuator]
-Actuator Name : joint_dxl
-ID :  6
-Joint Axis : 
(1.000, 0.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.002
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  -2.690
[Constant]
-Relative Position from parent component : 
(0.123, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.223, -0.000, -0.001)
-Orientation : 
(0.006, -0.004, 1.000
-0.001, 1.000, 0.004
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)
---------------------------------------------

RViz

NOTE:

  • The test is done on ROS 2 Dashing Diademata installed in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions. - Install ROS 2 Packages.

Load OpenMANIPULATOR-PRO on RViz.

$ ros2 launch open_manipulator_pro_description open_manipulator_pro_rviz2.launch.py

NOTE:

  • If you launched the OpenMANIPULATOR-PRO controller before launching the open_manipulator_pro_controller file, the robot model on RViz would be synchronized with the actual robot.
  • If users would like to check only model of OpenMANIPULATOR-PRO without OpenMANIPULATOR-PRO, the user can launch the RViz without the OpenMANIPULATOR-PRO controller.
    The user can change each joint by GUI, if the user launch only RViz by executing the following command : $ ros2 launch open_manipulator_pro_description open_manipulator_pro_rviz.launch.py use_gui:=true

Message List

NOTE:

  • The test is done on ROS Dashing Diademata installed in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
  • Make sure to run the OpenMANIPULATOR-PRO controller instructions before running the instructions below.

OpenMANIPULATOR-PRO Controller provides topic and service messages to control manipulator and check the states of manipulator.

Topic

Topic Monitor

In order to check the topics of OpenMANIPULATOR-PRO controller, you can use rqt provided by ROS. Rqt is a Qt-based framework for GUI development for ROS. Rqt allows users to easily see topic status by displaying all topics on a topic list. You can see topic name, type, bandwidth, Hz and value on rqt.

Run rqt.

$ rqt

TIP: If rqt is not displayed, select the plugin -> Topic Monitor -> OpenMANIPULATOR-PRO.

Topics without a check mark will not be monitored. To monitor topics, click the checkboxes next.

If you would like to see more details about topic message, click the button next to each checkbox.

Published Topic List

Published Topic List : A list of topics that the open_manipulator_pro_controller publishes.

NOTE: These topics are messages for checking the status of the robot regardless of the robot’s motion.

/open_manipulator/joint_states(sensor_msgs/JointState) is a message indicating the states of joints of OpenMANIPULATOR-PRO. “name” indicates joint component names. “effort” shows currents of the joint DYNAMIXEL. “position” and “velocity” indicates angles and angular velocities of joints.

/open_manipulator/gripper/kinematics_pose(open_manipulator_msgs/KinematicsPose) is a message indicating pose (position and orientation) in task space. “position” indicates the x, y and z values of the center of the end-effector (tool). “Orientation” indicates the direction of the end-effector (tool) as quaternion.

/open_manipulator/states(open_manipulator_msgs/OpenManipulatorState) is a message indicating the status of OpenMANIPULATOR-PRO. “open_manipulator_actuator_state” indicates whether actuators (DYNAMIXEL) are enabled (“ACTUATOR_ENABLE”) or disabled (“ACTUATOR_DISABLE”). “open_manipulator_moving_state” indicates whether OpenMANIPULATOR-PRO is moving along the trajectory (“IS_MOVING”) or stopped (“STOPPED”).

/open_manipulator/*joint_name*_position/command(std_msgs/Float64) are the messages to publish goal position of each joint to gazebo simulation node. *joint_name* shows the name of each joint. The messages will only be published if you run the controller package with the use_platform parameter set to false.

Subscribed Topic List

Subscribed Topic List: A list of topics that the open_manipulator_pro_controller subscribes.

NOTE: These topics are messages for checking the status of the robot regardless of the robot’s motion.

/open_manipulator/option(std_msgs/String) is used to set OpenMANIPULATOR-PRO options. “print_open_manipulator_setting” : is to request the open_manipulator_pro_controller to display “Manipulator Description”.

In addition, you can monitor topics through rqt whenever you have a topic added in your controller.

Service

Service Server List

NOTE: These services are messages to operate OpenMANIPULATOR-PRO or to change the status of the DYNAMIXEL of OpenMANIPULATOR-PRO.

Service Server List : A list of service servers that open_manipulator_pro_controller has.