Simulation

Not supported with Arduino

Launch gazebo

Close all terminals, then open new terminals and enter the commands below to load OpenMANIPULATOR-X on the Gazebo simulator.
```
$ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py
```
The red cube indicates the end-effector link.

Close all terminals, then open new terminals and enter the commands below to load OpenManipulator-X on the Gazebo simulator.
```
$ ros2 launch open_manipulator_x_bringup gazebo.launch.py
```
The red cube indicates the end-effector link.

Load OpenManipulator-X on Gazebo simulator and click on Play ▶ button at the bottom of the Gazebo window.
```
$ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
```
The red cube indicates the end-effector link.

Below are the active topics when the simulation is running

$ rostopic list

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/gazebo_ros_control/pid_gains/gripper/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper/parameter_updates
/gazebo_ros_control/pid_gains/gripper/state
/gazebo_ros_control/pid_gains/gripper_sub/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper_sub/parameter_updates
/gazebo_ros_control/pid_gains/gripper_sub/state
/gazebo_ros_control/pid_gains/joint1/parameter_descriptions
/gazebo_ros_control/pid_gains/joint1/parameter_updates
/gazebo_ros_control/pid_gains/joint1/state
/gazebo_ros_control/pid_gains/joint2/parameter_descriptions
/gazebo_ros_control/pid_gains/joint2/parameter_updates
/gazebo_ros_control/pid_gains/joint2/state
/gazebo_ros_control/pid_gains/joint3/parameter_descriptions
/gazebo_ros_control/pid_gains/joint3/parameter_updates
/gazebo_ros_control/pid_gains/joint3/state
/gazebo_ros_control/pid_gains/joint4/parameter_descriptions
/gazebo_ros_control/pid_gains/joint4/parameter_updates
/gazebo_ros_control/pid_gains/joint4/state
/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
/rosout
/rosout_agg

Not supported with Arduino

Operation in Gazebo

In order to control the simulated OpenMANIPULATOR-X, launch the OpenMANIPULATOR-X control GUI or Keyboard teleoperation
Click to view detailed instructions.

GUI Program

Terminal 1 - Launch the Gazebo simulation:

$ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

Terminal 2 - Launch MoveIt configuration:

$ ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py use_sim:=true

Terminal 3 - Launch GUI program:

$ ros2 launch open_manipulator_gui open_manipulator_x_gui.launch.py

Keyboard Teleoperation

Terminal 1 - Launch the Gazebo simulation:

$ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

Terminal 2 - Launch teleoperation:

$ ros2 run open_manipulator_teleop open_manipulator_x_teleop

[INFO] [1751512149.624709736] [keyboard_controller]: Waiting for /joint_states...
[INFO] [1751512149.625639191] [keyboard_controller]: Waiting for initial joint states...
[INFO] [1751512149.626929914] [keyboard_controller]: Received joint states: [-0.05982525065917969, -0.9157865293212891, 0.8517752421836835, 0.0], Gripper: 0.0
[INFO] [1751512149.627527555] [keyboard_controller]: Ready to receive keyboard input!
[INFO] [1751512149.627527555] [keyboard_controller]: Use 1/q, 2/w, 3/e, 4/r for joints 1-4, o/p for gripper. Press ESC to exit.

In order to control the simulated OpenMANIPULATOR-X, launch the OpenManipulator control GUI or Keyboard teleoperation
Click to view detailed instructions.

GUI Program

$ ros2 launch open_manipulator_x_gui open_manipulator_x_gui.launch.py

Keyboard Teleoperation

Open a terminal and execute the servo launch file below; MoveIt Servo provides real-time, smooth, and responsive control for robotic manipulators in joint or Cartesian space.

$ ros2 launch open_manipulator_x_moveit_config servo.launch.py

Open another terminal

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop

[INFO] [1732869286.738207239] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER
[INFO] [1732869286.738351481] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER
[INFO] [1732869286.738367129] [servo_keyboard_input]: call 'moveit_servo' start srv.
[INFO] [1732869286.738923809] [servo_keyboard_input]: SUCCESS to start 'moveit_servo'
Reading from keyboard
---------------------------
Joint Control Keys:
  1/q: Joint1 +/-
  2/w: Joint2 +/-
  3/e: Joint3 +/-
  4/r: Joint4 +/-
Use o|p to open/close the gripper.
'ESC' to quit.

In order to control the simulated OpenMANIPULATOR-X, launch the OpenManipulator control GUI or Keyboard teleoperation

GUI Program

$ roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch

Keyboard Teleoperation

$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch

---------------------------
Control Your OpenMANIPULATOR-X!
---------------------------
w : increase x axis in task space
s : decrease x axis in task space
a : increase y axis in task space
d : decrease y axis in task space
z : increase z axis in task space
x : decrease z axis in task space

y : increase joint 1 angle
h : decrease joint 1 angle
u : increase joint 2 angle
j : decrease joint 2 angle
i : increase joint 3 angle
k : decrease joint 3 angle
o : increase joint 4 angle
l : decrease joint 4 angle

g : gripper open
f : gripper close

1 : init pose
2 : home pose

q to quit
---------------------------
Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
---------------------------

Not supported with Arduino