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[ROS] Tools

RH-P12-RN Gripper

Parts List

  Part Name Quantity
Necessary Parts OpenMANIPULATOR-P 1
  RH-P12-RN (Gripper) 1
Chassis Parts FRP42_A110K 1
Cables CABLE_4P_180MM 1
Miscellaneous WB_M3X08_NYLOK_K 12

Assembly Manual

  1. Fix FRP42_A110K to the tip of OpenMANIPUALTOR-P with eight WB_M3X08_NYLOK_K screws.

  2. Assemble RH-P12-RN Gripper on fixed frame(FRP42_A110K) and tighten four WB_M3X08_NYLOK_K screws.

    NOTE : There are two more holes on the other side for screws.

  3. Connect OpenMANIPULATOR-P and RH-P12-RN with CABLE_4P_180MM Cable.

Operation

NOTE :

  • The test is done on ROS Kinetic Kame installed in Ubuntu 16.04.
  • The test is done on ROS Melodic Moreniainstalled in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
  • Make sure to run the OpenMANIPULATOR-P controller instructions before running the instruction below

Please, open the Terminal then run roscore along with following command.

$ roscore

After running roscore, open another Terminal then write the following commands in Terminal.

$ roslaunch open_manipulator_p_controller open_manipulator_p_controller.launch with_gripper:=true

GUI Program

Launch open_manipulator_p_control_gui node. This program shows the status of and allows users to control OpenMANIPULATOR-P.

$ roslaunch open_manipulator_p_control_gui open_manipulator_p_control_gui.launch with_gripper:=true

To controll OpenMANIPULATOR-P with RH-P12-RN (Gripper), click the Timer Start button.

To activate RH-P12-RN (Gripper), Click the Gripper open button.

Teleoperation

Keyboard

$ roslaunch open_manipulator_p_teleop open_manipulator_p_teleop_keyboard.launch with_gripper:=true

PS4 & XBOX 360 Joystick
You can do Teleoperation with a joystic.

$ export ROS_NAMESPACE=open_manipulator_p
$ roslaunch teleop_twist_joy teleop.launch
$ roslaunch open_manipulator_p_teleop open_manipulator_p_teleop_joystick.launch with_gripper:=true

MoveIt!

$ roslaunch open_manipulator_p_controllers joint_trajectory_controller.launch sim:=false with_gripper:=true

Simulation

NOTE :

  • The test is done on ROS Kinetic Kame installed in Ubuntu 16.04.
  • The test is done on ROS Melodic Moreniainstalled in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages

Launch Gazebo

Load OpenManipulator-PRO on Gazebo simulator

$ roslaunch open_manipulator_p_gazebo open_manipulator_p_gazebo.launch with_gripper:=true

Controller for Gazebo

Launch the open_manipulator_p_controller for gazebo simulation.

$ roslaunch open_manipulator_p_controller open_manipulator_p_controller.launch use_platform:=false with_gripper:=true