[ROS] Simulation
NOTE:
- The test is done on
ROS Kinetic Kame
installed inUbuntu 16.04
. - Make sure ROS dependencies are installed before performing these instructions - Install ROS Packages
Launch gazebo
Load OpenManipulator-X on Gazebo simulator and click on Play ▶
button.
$ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
A red box is pointing end-effector link.
Enter rostopic list
to list up the activated topics.
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/set_link_state
/gazebo/set_model_state
/open_manipulator/gripper/kinematics_pose
/open_manipulator/gripper_position/command
/open_manipulator/gripper_sub_position/command
/open_manipulator/joint1_position/command
/open_manipulator/joint2_position/command
/open_manipulator/joint3_position/command
/open_manipulator/joint4_position/command
/open_manipulator/joint_states
/open_manipulator/option
/open_manipulator/states
/rosout
/rosout_agg
Open OpenManipulator control GUI
Controller for gazebo
Launch the open_manipulator_controller for gazebo simulation.
$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false
NOTE:
- To control the OpenMANIPULATOR-X in the Gazebo environment using the OpenMANIPULATOR-X Controller, the controller must set the use_platform parameter to false because it needs to send messages to gazebo instead of Platform.
- If you want to manipulate the OpenMANIPULATOR-X using Moveit within the Gazebo simulator, you should also convert the use_moveit to true in open_manipulator_controller launch file.
If the OpenMANIPULATOR-X controller for gazebo simulation Launched successfully, the terminal will represent below messages.
SUMMARY
========
PARAMETERS
* /open_manipulator/control_period: 0.01
* /open_manipulator/moveit_sample_duration: 0.05
* /open_manipulator/planning_group_name: arm
* /open_manipulator/using_moveit: False
* /open_manipulator/using_platform: False
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
open_manipulator (open_manipulator_controller/open_manipulator_controller)
ROS_MASTER_URI=http://localhost:11311
process[open_manipulator-1]: started with pid [9820]
[ INFO] [1544506914.862653563]: Ready to simulate /open_manipulator on Gazebo
NOTE : In OpenMANIPULATOR-X controller for gazebo simulation, Joint and Gripper DYNAMIXEL are not enable, following messages will not be displayed :
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