[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