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Manipulation

Note : This instruction was tested on Ubuntu 16.04, Linux Mint 18.1 and ROS Kinetic Kame.

Note : If you want more specfic information about OpenManipulator, you would follow official wiki page of OpenManipulator. https://github.com/ROBOTIS-GIT/open_manipulator

Tip : 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.

Install dependent packages for the Open-Manipulator.

  sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core
  cd ~/catkin_ws/src/
  git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
  cd ~/catkin_ws && catkin_make

If catkin_make command is completed without any errors, the preparation for Open-Manipulator is done.

Gazebo (3D)

Below command will load the Open-Manipulator on Gazebo environment.

  roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

In order to control Open-Manipulator, please use topic publish with below command in a new terminal window.

  rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once

In order to run Open-Manipulator simulation with MoveIt!, open a new terminal window and enter below command.

  roslaunch open_manipulator_moveit open_manipulator_demo.launch use_gazebo:=true

In order to control gripper, please use topic publish with below command in a new terminal window.

  rostopic pub /robotis/open_manipulator/gripper std_msgs/String "data: 'grip_on'" --once

Platform

Below command will load the Open-Manipulator with DYNAMIXEL X-series.

  roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch

In order to run Open-Manipulator simulation with MoveIt!, open a new terminal window and enter below command.

  roslaunch open_manipulator_moveit open_manipulator_demo.launch

TurtleBot3 Waffle with Open-Manipulator

Install dependent packages for the Open-Manipulator.

  cd ~/catkin_ws/src
  git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
  cd ~/catkin_ws && catkin_make

Below command will load the TurtleBot3 Waffle with Open-Manipulator on Rviz.

  roslaunch open_manipulator_with_tb3 open_manipulator_chain_with_tb3_rviz.launch