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Experimental

MoveIt!

MoveIt! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking.

The following instruction describes how to install packages and to use MoveIt! with OpenMAIPULATOR-X.

Install MoveIt Packages

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_controls.git
$ git clone -b noetic https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
$ cd ~/catkin_ws && catkin_make

Launch MoveIt!

Launch MoveIt! with the following command.

$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=false

Using MoveIt! with Gazebo

Gazebo is a tool to simulate and test your robot in a virtual enviroment, without an actual robot.

Also, you can use MoveIt feature using your virtual robot in the Gazebo enviroment with the following command.

For more information on Gazebo, See Simulation

  1. Launch Gazebo simulator and RViz visualization tool 
    $ roslaunch open_manipulator_controllers joint_trajectory_controller.launch
  2. Click on Play ▶ button at the bottom of the Gazebo simulator.

MoveIt 2! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking.

Launch MoveIt 2 with Hardware

Before launching MoveIt 2, ensure that the hardware.launch.py from Launch Controller is running in a separate terminal.
Then launch MoveIt! with the following command.

$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py

Simple Instructions for Using MOVEIT 2:

  1. You can move the robot to your desired pose using the Interactive Marker visible in RViz.
  2. Use the Plan option in the Commands column to simulate the motion of the robotic arm.
  3. Click Execute to move the robot according to the simulated motion.
  4. Set the Planning Group to arm and use the Goal State options init or home to move the robot to predefined poses.
  5. Change the Planning Group to gripper and use Goal State options such as close or open to open and close the gripper.

Using MoveIt! with Gazebo

Gazebo is a tool to simulate and test your robot in a virtual enviroment, without an actual robot.

Also, you can use MoveIt feature using your virtual robot in the Gazebo enviroment with the following command.

For more information on Gazebo, See Simulation

Close all terminals and then launch the Gazebo simulator and RViz visualization tool.

$ ros2 launch open_manipulator_x_moveit_config moveit_gazebo.launch.py

Not supported

Gravity Compensation

Let OpenMANIPULATOR-X compensate gravity forces by using the Gravity Compensation packages

This section describes how to install and use Gravity Compensation feature with OpenMANIPULATOR-X.

Install Gravity Compensation Packages

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

Set Operating Mode to Current Mode

Set your DYNAMXEL’s Operating Mode to Current Mode via DYNAMIXEL Wizard 2.0

Run Gravity Compensation Package

Run the gravity compensation package with OpenMANIPULATOR-X.

$ roslaunch open_manipulator_controllers gravity_compensation_controller.launch

The Gravity Compensation is not supported yet.
https://github.com/ROBOTIS-GIT/open_manipulator_controls

Not supported