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[ROS] Setup

NOTE :

  • The test is done on ROS Kinetic Kame installed in Ubuntu 16.04.
  • The test is done on ROS Melodic Moreniainstalled in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages

Install Ubuntu on a PC

Download and install Ubuntu 16.04 or Ubuntu 18.04 on your a PC.

Install ROS on PC

The following script will allow you to simplify the ROS installation procedure. Run the following commands in a terminal window. The terminal application can be found with the Ubuntu search icon on the left side of the corner on a screen. The shortcut key to open a terminal is Ctrl+Alt+t. After installing ROS, please reboot PC.

WARNING : Install either ROS Kinetic Kame or ROS Melodic Morenia on your PC.

ROS Kinetic Kame

$ sudo apt-get update && sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

If you prefer manual installation, please follow the link below.

NOTE: In order to check which packages are installed, please check this link out. install_ros_kinetic.sh

ROS Melodic Morenia

$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh && chmod 755 ./install_ros_melodic.sh && bash ./install_ros_melodic.sh

If you prefer manual installation, please follow the link below.

NOTE: In order to check which packages are installed, please check this link out. install_ros_melodic.sh

Install ROS Packages

Install dependent packages for OpenMANIPULATOR-PRO. Run the following commands in a terminal window.

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.

WARNING : Install either of ROS Kinetic Kame or ROS Melodic Morenia on your PC.

ROS Kinetic Kame Package

$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_pro.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_pro_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ cd ~/catkin_ws && catkin_make

ROS Melodic Morenia Package

$ sudo apt-get install ros-melodic-ros-controllers ros-melodic-gazebo* ros-melodic-moveit* ros-melodic-industrial-core
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_pro.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_pro_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ cd ~/catkin_ws && catkin_make

If the catkin_make command has been completed without any errors, all the preparations for using OpenMANIPULATOR-PRO are done.

Communication Converter

U2D2

Connection

Connect micro USB (connected to PC), DYNAMIXEL’s(OpenMANIPULATOR-PRO), and 12V Power to U2D2 and U2D2 power hub board as shown below.

NOTE : Please refer to U2D2 e-Manual and U2D2 power hub board e-manual for detailed connection of U2D2 and U2D2 power hub board.

USB Latency Timer Setting

In Linux(Ubuntu platform) environment, USB latency time is set to 16ms by default. Follow the steps below to set the communication latency time to the lowest value (1ms) between DYNAMIXEL’s and PC connected via USB.

Open a terminal window and run the roscore.

$ roscore

With the roscore running, open a new terminal window and enter the following command to set usb latency time.

$ rosrun open_manipulator_pro_controller create_udev_rules

TIP: This entered command set USB latency timer to 1 ms. If you would like to see the setting, run the following command in a terminal.
cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer