Applications

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.

Not supported

Master and Slave is not supported in Arduino

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 1,000,000 bps.

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 1,000,000 bps. This is the same as the default OpenMANIPULATOR-X setting.

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.

1. Open a new terminal and enter the following command to run the controller for the Slave OpenMANIPULATOR-X.
   The dynamixel_usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
   Please check your OS and use the appropriate usb port assigned to the U2D2.

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

2. If the slave OpenMANIPULATOR-X controller is launched successfully, the terminal will print the following message.

    SUMMARY
    ========
   
    PARAMETERS
    * /open_manipulator_controller/control_period: 0.01
    * /open_manipulator_controller/using_platform: True
    * /rosdistro: noetic
    * /rosversion: 1.15.9
   
    NODES
      /
        open_manipulator_controller (open_manipulator_controller/open_manipulator_controller)
   
    auto-starting new master
    process[master]: started with pid [2049]
    ROS_MASTER_URI=http://localhost:11311
   
    setting /run_id to 60ac9f42-fa5b-11eb-a3d8-ef395547902c
    process[rosout-1]: started with pid [2059]
    started core service [/rosout]
    process[open_manipulator_controller-2]: started with pid [2062]
    port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
    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] Succeeded to init /open_manipulator_controller
   

3. Open another terminal and enter the following command to run the Master OpenMANIPULATOR-X controller.
   The usb_port is a parameter that sets the port of the master OpenMANIPULATOR-X.
   Please check your OS and use the appropriate serial port assigned to the U2D2.

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

4. If the master OpenMANIPULATOR-X controller has been launched successfully, the terminal will print the following message.

    SUMMARY
    ========
   
    PARAMETERS
    * /open_manipulator/open_manipulator_master/gripper_id: 25
    * /open_manipulator/open_manipulator_master/joint1_id: 21
    * /open_manipulator/open_manipulator_master/joint2_id: 22
    * /open_manipulator/open_manipulator_master/joint3_id: 23
    * /open_manipulator/open_manipulator_master/joint4_id: 24
    * /open_manipulator/open_manipulator_master/service_call_period: 0.01
    * /rosdistro: noetic
    * /rosversion: 1.15.9
   
    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
   

5. The following message will appear in the terminal. Current control mode and robot status(joint angle, tool position) will be updated.

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

6. Four control modes are available. Please select and enter the 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.