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[ROS] Simulation

NOTE:

  • This instruction has been tested on Ubuntu 16.04 and ROS Kinetic Kame.
  • This instruction is supposed to be run on PC with ROS packages installed in.

Launch gazebo

Load OpenManipulator-X on Gazebo simulator and click on Play ▶ button.

  $ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

A red box is pointing end-effector link.

Enter rostopic list to list up the activated topics.

  /clock
  /gazebo/link_states
  /gazebo/model_states
  /gazebo/set_link_state
  /gazebo/set_model_state
  /open_manipulator/gripper/kinematics_pose
  /open_manipulator/gripper_position/command
  /open_manipulator/gripper_sub_position/command
  /open_manipulator/joint1_position/command
  /open_manipulator/joint2_position/command
  /open_manipulator/joint3_position/command
  /open_manipulator/joint4_position/command
  /open_manipulator/joint_states
  /open_manipulator/option
  /open_manipulator/states
  /rosout
  /rosout_agg

Open an open_manipulator_control_gui

Controller for gazebo

Launch the open_manipulator_controller for gazebo simulation.

  $ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false

NOTE:

  • To control the OpenMANIPULATOR-X in the Gazebo environment using the OpenMANIPULATOR-X Controller, the controller must set the use_platform parameter to false because it needs to send messages to gazebo instead of Platform.
  • If you want to manipulate the OpenMANIPULATOR-X using Moveit within the Gazebo simulator, you should also convert the use_moveit to ture in open_manipulator_controller launch file.

If the OpenMANIPULATOR-X controller for gazebo simulation Launched successfully, the terminal will represent below messages.

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: False
 * /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 [9820]
[ INFO] [1544506914.862653563]: Ready to simulate /open_manipulator on Gazebo

NOTE : In OpenMANIPULATOR-X controller for gazebo simulation, Joint and Gripper Dynamixel are not enable, following messages will not display :
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