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Applications

Master and Slave

In this example, if the user is holding the master OpenMANIPULATOR, the slave OpenMANIPULATOR-X moves like master robot. Recording mode allows you to save the trajectory as you move the master OpenMANIPULATOR-X and play it back to the slave OpenMANIPULATOR.

In this example, if the user is holding the master OpenMANIPULATOR, the slave OpenMANIPULATOR-X moves like master robot. Recording mode allows you to save the trajectory as you move the master OpenMANIPULATOR-X and play it back to the slave OpenMANIPULATOR.

In this example, if the user is holding the master OpenMANIPULATOR, the slave OpenMANIPULATOR-X moves like master robot. Recording mode allows you to save the trajectory as you move the master OpenMANIPULATOR-X and play it back to the slave OpenMANIPULATOR.

Coming Soon (2021 4Q)

Master and Slave is not supported in Arduino

Setup OpenMANIPULATOR-X

Since you need to control two OpenManipulators on one PC, use two U2D2s and two OpenManipulators to connect as shown below.

Master OpenMANIPULATOR-X

Master OpenMANIPULATOR-X is a robot that is controlled by the user. This is easy to move because no torque is applied to dynamixel. DYNAMIXEL of master OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps.

Name DYNAMIXEL ID
Joint 1 21
Joint 2 22
Joint 3 23
Joint 4 24
Gripper 25

Slave OpenMANIPULATOR-X

Slave OpenMANIPULATOR-X moves synchronously with Master OpenMANIPULATOR. DYNAMIXEL of slave OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps. This is the same as the default OpenMANIPULATOR-X setting.

Name DYNAMIXEL ID
Joint 1 11
Joint 2 12
Joint 3 13
Joint 4 14
Gripper 15

Since you need to control two OpenManipulators on one PC, use two U2D2s and two OpenManipulators to connect as shown below.

Master OpenMANIPULATOR-X

Master OpenMANIPULATOR-X is a robot that is controlled by the user. This is easy to move because no torque is applied to dynamixel. DYNAMIXEL of master OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps.

Name DYNAMIXEL ID
Joint 1 21
Joint 2 22
Joint 3 23
Joint 4 24
Gripper 25

Slave OpenMANIPULATOR-X

Slave OpenMANIPULATOR-X moves synchronously with Master OpenMANIPULATOR. DYNAMIXEL of slave OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps. This is the same as the default OpenMANIPULATOR-X setting.

Name DYNAMIXEL ID
Joint 1 11
Joint 2 12
Joint 3 13
Joint 4 14
Gripper 15

Since you need to control two OpenManipulators on one PC, use two U2D2s and two OpenManipulators to connect as shown below.

Master OpenMANIPULATOR-X

Master OpenMANIPULATOR-X is a robot that is controlled by the user. This is easy to move because no torque is applied to dynamixel. DYNAMIXEL of master OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps.

Name DYNAMIXEL ID
Joint 1 1
Joint 2 2
Joint 3 3
Joint 4 4
Gripper 5

Slave OpenMANIPULATOR-X

Slave OpenMANIPULATOR-X moves synchronously with Master OpenMANIPULATOR. DYNAMIXEL of slave OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps. This is the same as the default OpenMANIPULATOR-X setting.

Name DYNAMIXEL ID
Joint 1 11
Joint 2 12
Joint 3 13
Joint 4 14
Gripper 15

Install Package

Run the following command in a terminal window.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ cd ~/catkin_ws && catkin_make

If the catkin_make command has been completed without any errors, all the preparations are done.

Run the following command in a terminal window.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ cd ~/catkin_ws && catkin_make

If the catkin_make command has been completed without any errors, all the preparations are done.

Run the following command in a terminal window.

$ cd ~/robotis_ws/src/
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ cd ~/robotis_ws && colcon build --symlink-install  

If the catkin_make command has been completed without any errors, all the preparations are done.

Execute Example

WARNING :
Please check each joint position before running OpenMANIPULATOR-X.
The manipulator will not operate if any joint is out of operable range.
The following image describes the recommended pose of OpenMANIPULATOR-X at start up.
Please adjust the pose before the torque is turned on by the controller.

  1. Open a new terminal and enter the following command to run the controller for the Slave OpenMANIPULATOR-X.
    The dynamixel_usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
    Please check your OS and use the appropriate usb port assigned to the U2D2.
    $ roslaunch open_manipulator_controller open_manipulator_controller.launch dynamixel_usb_port:=/dev/ttyUSB0
    
  2. If the slave OpenMANIPULATOR-X controller is launched successfully, the terminal will print the following message.

     SUMMARY
     ========
    
     PARAMETERS
     * /open_manipulator/control_period: 0.01
     * /open_manipulator/moveit_sample_duration: 0.05
     * /open_manipulator/planning_group_name: arm
     * /open_manipulator/using_moveit: False
     * /open_manipulator/using_platform: True
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
    
     NODES
       /
         open_manipulator (open_manipulator_controller/open_manipulator_controller)
    
     ROS_MASTER_URI=http://localhost:11311
    
     process[open_manipulator-1]: started with pid [23452]
     Joint Dynamixel ID : 11, Model Name : XM430-W350
     Joint Dynamixel ID : 12, Model Name : XM430-W350
     Joint Dynamixel ID : 13, Model Name : XM430-W350
     Joint Dynamixel ID : 14, Model Name : XM430-W350
     Gripper Dynamixel ID : 15, Model Name :XM430-W350
     [ INFO] [1544509070.096942788]: Succeeded to init /open_manipulator
    
  3. Open another terminal and enter the following command to run the Master OpenMANIPULATOR-X controller.
    The usb_port is a parameter that sets the port of the master OpenMANIPULATOR-X.
    Please check your OS and use the appropriate serial port assigned to the U2D2.
    $ roslaunch open_manipulator_master_slave open_manipulator_master.launch usb_port:=/dev/ttyUSB1
    
  4. If the master OpenMANIPULATOR-X controller has been launched successfully, the terminal will print the following message.

     SUMMARY
     ========
    
     PARAMETERS
     * /open_manipulator/open_manipulator_master/gripper_id: 25
     * /open_manipulator/open_manipulator_master/joint1_id: 21
     * /open_manipulator/open_manipulator_master/joint2_id: 22
     * /open_manipulator/open_manipulator_master/joint3_id: 23
     * /open_manipulator/open_manipulator_master/joint4_id: 24
     * /open_manipulator/open_manipulator_master/service_call_period: 0.01
     * /rosdistro: kinetic
     * /rosversion: 1.12.14
    
     NODES
     /open_manipulator/
         open_manipulator_master (open_manipulator_master_slave/open_manipulator_master)
    
     ROS_MASTER_URI=http://localhost:11311
    
     process[open_manipulator/open_manipulator_master-1]: started with pid [32026]
     Joint Dynamixel ID : 21, Model Name : XM430-W350
     Joint Dynamixel ID : 22, Model Name : XM430-W350
     Joint Dynamixel ID : 23, Model Name : XM430-W350
     Joint Dynamixel ID : 24, Model Name : XM430-W350
     Gripper Dynamixel ID : 25, Model Name :XM430-W350
    
  5. The following message will appear in the terminal. Current control mode and robot status(joint angle, tool position) will be updated.

     -----------------------------
     Control Your OpenMANIPULATOR!
     -----------------------------
     Present Control Mode
     Master - Slave Mode
     -----------------------------
     1 : Master - Slave Mode
     2 : Start Recording Trajectory
     3 : Stop Recording Trajectory
     4 : Play Recorded Trajectory
     -----------------------------
     Present Joint Angle J1: -0.170 J2: 0.367 J3: -0.046 J4: 0.959
     Present Tool Position: 0.000
     -----------------------------
    
  6. Four control modes are available. Please select and enter the number in the terminal.

    • 1 : Master-Slave Mode
      • Master robot and slave robot move synchronously.
    • 2 : Start Recording Trajectory
      • Master robot and slave robot move synchronously and the controller records the moving trajectory.
    • 3 : Stop Recording Trajectory
      • Ends the recording.
    • 4 : Play Recorded Trajectory
      • The trajectory recorded in the 2nd mode is reproduced only by the slave robot.

WARNING :
Please check each joint position before running OpenMANIPULATOR-X.
The manipulator will not operate if any joint is out of operable range.
The following image describes the recommended pose of OpenMANIPULATOR-X at start up.
Please adjust the pose before the torque is turned on by the controller.

  1. Open a new terminal and enter the following command to run the controller for the Slave OpenMANIPULATOR-X.
    The dynamixel_usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
    Please check your OS and use the appropriate usb port assigned to the U2D2.
    $ roslaunch open_manipulator_controller open_manipulator_controller.launch dynamixel_usb_port:=/dev/ttyUSB0
    
  2. If the slave OpenMANIPULATOR-X controller is launched successfully, the terminal will print the following message.

     SUMMARY
     ========
    
     PARAMETERS
     * /open_manipulator_controller/control_period: 0.01
     * /open_manipulator_controller/using_platform: True
     * /rosdistro: noetic
     * /rosversion: 1.15.9
    
     NODES
       /
         open_manipulator_controller (open_manipulator_controller/open_manipulator_controller)
    
     auto-starting new master
     process[master]: started with pid [2049]
     ROS_MASTER_URI=http://localhost:11311
    
     setting /run_id to 60ac9f42-fa5b-11eb-a3d8-ef395547902c
     process[rosout-1]: started with pid [2059]
     started core service [/rosout]
     process[open_manipulator_controller-2]: started with pid [2062]
     port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
     Joint Dynamixel ID : 11, Model Name : XM430-W350
     Joint Dynamixel ID : 12, Model Name : XM430-W350
     Joint Dynamixel ID : 13, Model Name : XM430-W350
     Joint Dynamixel ID : 14, Model Name : XM430-W350
     Gripper Dynamixel ID : 15, Model Name :XM430-W350
     [INFO] Succeeded to init /open_manipulator_controller
    
  3. Open another terminal and enter the following command to run the Master OpenMANIPULATOR-X controller.
    The usb_port is a parameter that sets the port of the master OpenMANIPULATOR-X.
    Please check your OS and use the appropriate serial port assigned to the U2D2.
    $ roslaunch open_manipulator_master_slave open_manipulator_master.launch usb_port:=/dev/ttyUSB1
    
  4. If the master OpenMANIPULATOR-X controller has been launched successfully, the terminal will print the following message.

     SUMMARY
     ========
    
     PARAMETERS
     * /open_manipulator/open_manipulator_master/gripper_id: 25
     * /open_manipulator/open_manipulator_master/joint1_id: 21
     * /open_manipulator/open_manipulator_master/joint2_id: 22
     * /open_manipulator/open_manipulator_master/joint3_id: 23
     * /open_manipulator/open_manipulator_master/joint4_id: 24
     * /open_manipulator/open_manipulator_master/service_call_period: 0.01
     * /rosdistro: noetic
     * /rosversion: 1.15.9
    
     NODES
     /open_manipulator/
         open_manipulator_master (open_manipulator_master_slave/open_manipulator_master)
    
     ROS_MASTER_URI=http://localhost:11311
    
     process[open_manipulator/open_manipulator_master-1]: started with pid [32026]
     Joint Dynamixel ID : 21, Model Name : XM430-W350
     Joint Dynamixel ID : 22, Model Name : XM430-W350
     Joint Dynamixel ID : 23, Model Name : XM430-W350
     Joint Dynamixel ID : 24, Model Name : XM430-W350
     Gripper Dynamixel ID : 25, Model Name :XM430-W350
    
  5. The following message will appear in the terminal. Current control mode and robot status(joint angle, tool position) will be updated.

     -----------------------------
     Control Your OpenMANIPULATOR!
     -----------------------------
     Present Control Mode
     Master - Slave Mode
     -----------------------------
     1 : Master - Slave Mode
     2 : Start Recording Trajectory
     3 : Stop Recording Trajectory
     4 : Play Recorded Trajectory
     -----------------------------
     Present Joint Angle J1: -0.170 J2: 0.367 J3: -0.046 J4: 0.959
     Present Tool Position: 0.000
     -----------------------------
    
  6. Four control modes are available. Please select and enter the number in the terminal.

    • 1 : Master-Slave Mode
      • Master robot and slave robot move synchronously.
    • 2 : Start Recording Trajectory
      • Master robot and slave robot move synchronously and the controller records the moving trajectory.
    • 3 : Stop Recording Trajectory
      • Ends the recording.
    • 4 : Play Recorded Trajectory
      • The trajectory recorded in the 2nd mode is reproduced only by the slave robot.

WARNING :
Please check each joint position before running OpenMANIPULATOR-X.
The manipulator will not operate if any joint is out of operable range.
The following image describes the recommended pose of OpenMANIPULATOR-X at start up.
Please adjust the pose before the torque is turned on by the controller.

  1. Open a new terminal and enter the following command to run the controller for the Slave OpenMANIPULATOR-X.
    The usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
    Please check your OS and use the appropriate usb port assigned to the U2D2.
    $ ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py usb_port:=/dev/ttyUSB0
    
  2. If the slave OpenMANIPULATOR-X controller is launched successfully, the terminal will print the following message.

     [INFO] [open_manipulator_x_controller-1]: process started with pid [6698]
     [open_manipulator_x_controller-1] port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
     [open_manipulator_x_controller-1] Joint Dynamixel ID : 11, Model Name : XM430-W350
     [open_manipulator_x_controller-1] Joint Dynamixel ID : 12, Model Name : XM430-W350
     [open_manipulator_x_controller-1] Joint Dynamixel ID : 13, Model Name : XM430-W350
     [open_manipulator_x_controller-1] Joint Dynamixel ID : 14, Model Name : XM430-W350
     [open_manipulator_x_controller-1] Gripper Dynamixel ID : 15, Model Name :XM430-W350
     [open_manipulator_x_controller-1] [INFO] [open_manipulator_x_controller]: Succeeded to Initialise OpenManipulator-X Controller
    
  3. Open another terminal and enter the following command to run the Master OpenMANIPULATOR-X controller.
    The usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
    Please check your OS and use the appropriate usb port assigned to the U2D2.
    $ ros2 run open_manipulator_x_master_slave open_manipulator_x_master_slave usb_port:=/dev/ttyUSB1
    
  4. If the master OpenManipulator-X controller has been launched successfully, the terminal will print the following message.

     -----------------------------
     Control Your OpenManipulator!
     -----------------------------
     Present Control Mode
     Master - Slave Mode
     -----------------------------
     1 : Master - Slave Mode
     2 : Start Recording Trajectory
     3 : Stop Recording Trajectory
     4 : Play Recorded Trajectory
     -----------------------------
     Present Joint Angle J1: -0.170 J2: 0.367 J3: -0.046 J4: 0.959
     Present Tool Position: 0.000
     -----------------------------
    
  5. Four control modes are available. Please select and enter the number in the terminal.

    • 1 : Master-Slave Mode
      • Master robot and slave robot move synchronously.
    • 2 : Start Recording Trajectory
      • Master robot and slave robot move synchronously and the controller records the moving trajectory.
    • 3 : Stop Recording Trajectory
      • Ends the recording.
    • 4 : Play Recorded Trajectory
      • The trajectory recorded in the 2nd mode is reproduced only by the slave robot.

OpenCR Teaching

This controller is not compatible with ROS, but runs on the OpenCR as a standalone controller.