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[ROS] 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.

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 1000000bps.

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 1000000bps. 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.

Execute Example

Please, open the terminal window, run roscore as entering following command.

$ roscore

After run roscore, Run the controller of slave OpenMANIPULATOR-X. Open the other terminal window and enter the following command in the terminal.
dynamixel_usb_port is a parameter to set use port to connected with DYNAMIXEL of slave OpenMANIPULATOR. It should be set /dev/ttyUSB@ and it is different from use port of master OpenMANIPULATOR.

$ roslaunch open_manipulator_controller open_manipulator_controller.launch dynamixel_usb_port:=/dev/ttyUSB0

WARNING :
Please check each joint position before running OpenMANIPULATOR-X. It might stop operation because of joint position out of range.
The picture on the below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque isn’t enabled.

If the master OpenMANIPULATOR-X controller has been launched successfully, the terminal will show 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

And Open the other terminal window and enter the following command in the terminal. This command is to run the controller of master OpenMANIPULATOR.
usb_port is a parameter to set use port to connected with DYNAMIXEL of master OpenMANIPULATOR. It should be set /dev/ttyUSB@ and it is different from use port of slave OpenMANIPULATOR.

$ roslaunch open_manipulator_master_slave open_manipulator_master.launch usb_port:=/dev/ttyUSB1

If the slave OpenMANIPULATOR-X controller has been launched successfully, the terminal will show the following message.

SUMMARY
========

PARAMETERS
 * /open_manipulator/open_manipulator_master/gripper_id: 5
 * /open_manipulator/open_manipulator_master/joint1_id: 1
 * /open_manipulator/open_manipulator_master/joint2_id: 2
 * /open_manipulator/open_manipulator_master/joint3_id: 3
 * /open_manipulator/open_manipulator_master/joint4_id: 4
 * /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

So, you can see the following message in the terminal window. You can check the current control mode and robot status(joint angle, tool position).

-----------------------------
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
-----------------------------

There are four control modes. Please enter that 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.