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Operation

GUI Program

NOTE:

This instructions are supposed to be running on PC with ROS packages installed in. Please run the instructions below on your PC ROS packages installed in.
Make sure to run the OpenMANIPULATOR-X controller instructions before running the GUI Program.

Launch the GUI program. The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch
```
Click the Timer Start button.
Check the status of OpenMANIPULATOR-X.
To manipulate OpenMANIPULATOR-X in the joint space, enter the joint angles and total time for the trajectory. Then click the send button to start the motion.
To manipulate OpenMANIPULATOR-X in the task space, enter the kinematics pose of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time for the trajectory. Then click the send button to start the motion.
To create a drawing trajectory with OpenMANIPULATOR-X, choose the drawing trajectory type(line, circle, rhombus, heart). And enter the parameters according to the drawing trajectory type and the total time of the drawing trajectory. Then click the send button to start drawing.

NOTE:

This instructions are supposed to be running on PC with ROS packages installed in. Please run the instructions below on your PC ROS packages installed in.
Make sure to run the OpenMANIPULATOR-X controller instructions before running the GUI Program.

Launch the GUI program. The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch
```
Click the Timer Start button.
Check the status of OpenMANIPULATOR-X.
To manipulate OpenMANIPULATOR-X in the joint space, enter the joint angles and total time for the trajectory. Then click the send button to start the motion.
To manipulate OpenMANIPULATOR-X in the task space, enter the kinematics pose of the OpenMANIPULATOR-X end-effector(tool) in the task space and the total time for the trajectory. Then click the send button to start the motion.
To create a drawing trajectory with OpenMANIPULATOR-X, choose the drawing trajectory type(line, circle, rhombus, heart). And enter the parameters according to the drawing trajectory type and the total time of the drawing trajectory. Then click the send button to start drawing.

GUI Program is not supported yet.
https://github.com/ROBOTIS-GIT/open_manipulator

The GUI for Arduino example is provided with the Processing.
Please refer to the Launch Controller in the Basic Operation section.

Control Interface

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

To manipulate the OpenMANIPULATOR, click the toggle button to CONTROLLER ON.
The user can manipulate the OpenMANIPULATOR-X in the joint space.
Set the joint angles. Then click the SEND JOINT ANGLE button. And set the gripper parameter. Then click the SET GRIPPER button.
The user can manipulate the OpenMANIPULATOR-X in the task space.
Click the TASK SPACE CONTROL button to change the tab.
Click the desired direction button to manipulate the OpenMANIPULATOR.

Hand Guiding

The user can make the demonstration using hand guiding function.

Click the HAND GUIDING button to change the tab.
Holds the OpenMANIPULATOR-X by hand and click the toggle button to TORQUE OFF.
Move the OpenMANIPULATOR-X to the desired pose by hand.
Click the SAVE JOINT POSE to save the present pose.
Repeat step 3 and 4 to create the demonstration.
Click the toggle button to TORQUE ON
Click the MOTION START button to start the saved poses.

Click the toggle button to MOTION REPEAT ON if you want to repeat the demonstration. The total time of the trajectory between saved poses is the same as 2 seconds.

Teleoperation

NOTE:

Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
Make sure to run OpenMANIPULATOR-X controller instructions before use of the instruction

Keyboard

TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Launch open_manipulator_teleop_keyboard node for simple teleoperation test using the keyboard.
The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch
```
If the node is successfully launched, the following instruction will appear in the terminal window.

  ---------------------------
  Control Your OpenMANIPULATOR-X!
  ---------------------------
  w : increase x axis in task space
  s : decrease x axis in task space
  a : increase y axis in task space
  d : decrease y axis in task space
  z : increase z axis in task space
  x : decrease z axis in task space

  y : increase joint 1 angle
  h : decrease joint 1 angle
  u : increase joint 2 angle
  j : decrease joint 2 angle
  i : increase joint 3 angle
  k : decrease joint 3 angle
  o : increase joint 4 angle
  l : decrease joint 4 angle

  g : gripper open
  f : gripper close

  1 : init pose
  2 : home pose

  q to quit
  ---------------------------
  Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
  Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
  ---------------------------

PS4 Joystick

Install packages for teleoperation using PS4 joystick.

$ sudo apt-get install ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy
$ sudo pip install ds4drv

Connect PS4 joystick to the PC via Bluetooth using the following command

$ sudo ds4drv

Enter pairing mode with PS4 by pressing and holding Playstation button + share button for 10 sec. If the light on PS4 turns blue, enter the following commands in terminal and control OpenMANIPULATOR-X.

$ export ROS_NAMESPACE=/open_manipulator
$ roslaunch teleop_twist_joy teleop.launch
$ roslaunch open_manipulator_teleop open_manipulator_teleop_joystick.launch

XBOX 360 Joystick

Install packages for teleoperation using XBOX 360 joystick.

$ sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy

Connect XBOX 360 joystick to the PC with wireless adapter or USB cable, and launch teleoperation packages for XBOX 360 joystick.

$ sudo xboxdrv --silent
$ export ROS_NAMESPACE=/open_manipulator
$ roslaunch teleop_twist_joy teleop.launch
$ roslaunch open_manipulator_teleop open_manipulator_teleop_joystick.launch

NOTE:

Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
Make sure to run OpenMANIPULATOR-X controller instructions before use of the instruction

Keyboard

TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Launch open_manipulator_teleop_keyboard node for simple teleoperation test using the keyboard.
The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch
```
If the node is successfully launched, the following instruction will appear in the terminal window.

  ---------------------------
  Control Your OpenMANIPULATOR-X!
  ---------------------------
  w : increase x axis in task space
  s : decrease x axis in task space
  a : increase y axis in task space
  d : decrease y axis in task space
  z : increase z axis in task space
  x : decrease z axis in task space

  y : increase joint 1 angle
  h : decrease joint 1 angle
  u : increase joint 2 angle
  j : decrease joint 2 angle
  i : increase joint 3 angle
  k : decrease joint 3 angle
  o : increase joint 4 angle
  l : decrease joint 4 angle

  g : gripper open
  f : gripper close

  1 : init pose
  2 : home pose

  q to quit
  ---------------------------
  Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
  Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
  ---------------------------

RC-100

Not supported.

PS4 Joystick

Install packages for teleoperation using PS4 joystick.

$ sudo apt-get install ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy
$ sudo pip install ds4drv

Connect PS4 joystick to the PC via Bluetooth using the following command

$ sudo ds4drv

$ export ROS_NAMESPACE=/open_manipulator
$ roslaunch teleop_twist_joy teleop.launch
$ roslaunch open_manipulator_teleop open_manipulator_teleop_joystick.launch

XBOX 360 Joystick

Install packages for teleoperation using XBOX 360 joystick.

$ sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy

Connect XBOX 360 joystick to the PC with wireless adapter or USB cable, and launch teleoperation packages for XBOX 360 joystick.

$ sudo xboxdrv --silent
$ export ROS_NAMESPACE=/open_manipulator
$ roslaunch teleop_twist_joy teleop.launch
$ roslaunch open_manipulator_teleop open_manipulator_teleop_joystick.launch

NOTE:

Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
Make sure to run OpenMANIPULATOR-X controller instructions before use of the instruction

Keyboard

TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Launch open_manipulator_teleop_keyboard node for simple teleoperation test using the keyboard.
The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_keyboard
```
If the node is successfully launched, the following instruction will appear in the terminal window.

  ---------------------------
  Control Your OpenMANIPULATOR-X!
  ---------------------------
  w : increase x axis in task space
  s : decrease x axis in task space
  a : increase y axis in task space
  d : decrease y axis in task space
  z : increase z axis in task space
  x : decrease z axis in task space

  y : increase joint 1 angle
  h : decrease joint 1 angle
  u : increase joint 2 angle
  j : decrease joint 2 angle
  i : increase joint 3 angle
  k : decrease joint 3 angle
  o : increase joint 4 angle
  l : decrease joint 4 angle

  g : gripper open
  f : gripper close

  1 : init pose
  2 : home pose

  q to quit
  ---------------------------
  Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000
  Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
  ---------------------------

RC-100

Not supported.

PS4 Joystick

Install packages for teleoperation using PS4 joystick.

$ sudo pip install ds4drv

Connect PS4 joystick to the PC via Bluetooth using the following command

$ sudo ds4drv

$ ros2 run joy joy_node
$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_joystick

XBOX 360 Joystick

Install packages for teleoperation using XBOX 360 joystick.

Connect XBOX 360 joystick to the PC with wireless adapter or USB cable, and launch teleoperation packages for XBOX 360 joystick.

$ ros2 run joy joy_node
$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_joystick

NOTE:

Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
Make sure to run OpenMANIPULATOR-X controller instructions before use of the instruction

Keyboard

TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Launch open_manipulator_teleop_keyboard node for simple teleoperation test using the keyboard.
The OpenMANIPULATOR-X Controller must be running on another terminal.
```
$ ros2 run open_manipulator_x_teleop teleop_keyboard
```
If the node is successfully launched, the following instruction will appear in the terminal window.

  Control Your OpenManipulator!
---------------------------
Task Space Control:
         (Forward, X+)
              W                   Q (Upward, Z+)
(Left, Y+) A     D (Right, Y-)    Z (Downward, Z-)
              X 
        (Backward, X-)

Joint Space Control:
- Joint1 : Increase (Y), Decrease (H)
- Joint2 : Increase (U), Decrease (J)
- Joint3 : Increase (I), Decrease (K)
- Joint4 : Increase (O), Decrease (L)
- Gripper: Increase (F), Decrease (G) | Fully Open (V), Fully Close (B)

INIT : (1)
HOME : (2)

CTRL-C to quit

Joint Angle(Rad): [0.000, 0.000, 0.000, 0.000, 0.000]
Kinematics Pose(Pose X, Y, Z | Orientation W, X, Y, Z): 0.000, 0.000, 0.000 | 0.000, 0.000, 0.000, 0.000