[ROS] Controls
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 moveit package 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 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
# Gazebo Simulation
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch
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