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ManipulationNOTE:
WARNING
The contents in e-Manual are subject to be updated without a prior notice. Therefore, some video may differ from the contents in e-Manual. TIP: The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. The shortcut key for running the terminal is NOTE:
The contents in e-Manual are subject to be updated without a prior notice. Therefore, some video may differ from the contents in e-Manual. TIP: The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. The shortcut key for running the terminal is NOTE: This feature in the selected ROS distribution will be available in October 2022. NOTE:
The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. TIP: The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. NOTE:
The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. TIP: The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. NOTE: This feature in the selected ROS distribution is not available yet. TurtleBot3 with OpenMANIPULATORThe OpenMANIPULATOR-X by ROBOTIS is one of the manipulators that support ROS, and has the advantage of being able to easily manufacture at a low cost by using DYNAMIXEL actuators with 3D printed parts. The OpenMANIPULATOR-X has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom
and can have greater completeness as a service robot with the the SLAM and Navigation capabilities that the TurtleBot3 has. TurtleBot3 and OpenMANIPULATOR-X can be used as a The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. The OpenMANIPULATOR-X by ROBOTIS is one of the manipulators that support ROS, and has the advantage of being able to easily manufacture at a low cost by using DYNAMIXEL actuators with 3D printed parts. The OpenMANIPULATOR-X has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and Navigation capabilities that the TurtleBot3 has. TurtleBot3 and OpenMANIPULATOR-X can be used as a The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. The OpenMANIPULATOR-X by ROBOTIS is one of the manipulators that support ROS platform, and has the advantage of being able to easily manufacture at a low cost by using DYNAMIXEL actuators with 3D printed parts. The OpenMANIPULATOR-X has the advantage of being compatible with
TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and Navigation capabilities that the TurtleBot3 has. TurtleBot3 and OpenMANIPULATOR-X can be used as a The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. The OpenMANIPULATOR-X by ROBOTIS is one of the manipulators that support ROS platform, and has the advantage of being able to easily manufacture at a low cost by using DYNAMIXEL actuators with 3D printed parts. The OpenMANIPULATOR-X has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of
freedom and can have greater completeness as a service robot with the the SLAM and Navigation capabilities that the TurtleBot3 has. TurtleBot3 and OpenMANIPULATOR-X can be used as a The contents in e-Manual are subject to change without prior notice. Therefore, some video may differ from the contents in e-Manual. Software SetupNOTE: Before installing the
NOTE: Before installing the
NOTE:
Be sure to install
[TurtleBot3]
[Remote PC]
NOTE: TurtleBot3 Manipulation for ROS2 Foxy requires [TurtleBot3]
[Remote PC]
Hardware Assembly
OpenCR SetupNOTE: To use OpenMANIPULATOR-X, you need to upload a firmware into OpenCR by using either shell script or Arduino IDE.
WARNING After OpenMANIPULATOR is properly mounted on TurtleBot3, the OpenCR firmware needs to be updated to control connected DYNAMIXEL. Please follow the firmware update instructions below.
DANGER Please be aware of pinching your body between the robot joints!!! When the firmware is successfully uploaded, OpenCR board will reboot and the OpenMANIPULATOR-X will move to the initial pose. Arduino IDEPlease be aware that OpenCR board manager does not support Arduino IDE on ARM based SBC such as Raspberry Pi or
NVidia Jetson.
NOTE: To use OpenMANIPULATOR-X, you need to upload a firmware into OpenCR by using either shell script or Arduino IDE.
WARNING After OpenMANIPULATOR is properly mounted on TurtleBot3, the OpenCR firmware needs to be updated to control connected DYNAMIXEL. Please follow the firmware update instructions below.
DANGER Please be aware of pinching your body between the robot joints!!! When the firmware is successfully uploaded, OpenCR board will reboot and the OpenMANIPULATOR-X will move to the initial pose. Arduino IDEPlease be aware that OpenCR board manager does not support Arduino IDE on ARM based SBC
such as Raspberry Pi or NVidia Jetson.
Note: This feature is available for Foxy. NOTE: To use OpenMANIPULATOR-X, you need to upload a firmware into OpenCR by using either shell script or Arduino IDE.
WARNING After OpenMANIPULATOR-X is properly mounted on TurtleBot3, the OpenCR firmware needs to be updated to control connected DYNAMIXEL. Please follow the firmware update instructions below.
Arduino IDEPlease be aware that OpenCR board manager does not
support Arduino IDE on ARM based SBC such as Raspberry Pi or NVidia Jetson.
BringupNOTE: Be sure that OpenCR port is properly assigned on PC. See turtlebot3_core.launch. Run roscore[Remote PC] Run the roscore to use ROS. Define TurtleBot3 Model[TurtleBot3 SBC] Export TurtleBot3 model (
NOTE: TurtleBot3 Model may differ from the hardware configuration of TurtleBot3 such as Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
NOTE: Be sure that OpenCR port is properly assigned on PC. See turtlebot3_core.launch. Run roscore[Remote PC] Run the roscore to use ROS. Define TurtleBot3 Model[TurtleBot3 SBC] Export TurtleBot3 model (
NOTE: TurtleBot3 Model may differ from the hardware configuration of TurtleBot3 such as Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
Be sure to read Bringup manual before use of the following instruction. [TurtleBot3]
[TurtleBot3] In order to run a TurtleBot3 Manipulation simulation using Gazebo, please skip to Simulation section. The following command will bringup the actual TurtleBot3 hardware with OpenMANIPULATOR-X on it.
DANGER Please be aware of pinching your body between the robot joints!!! When the Turtlebot3 Manipulation bringup launches, the OpenMANIPULATOR-X will move to the initial pose. SimulationSimulate TurtleBot3 Manipulation using Gazebo by following this section. Run Gazebo[Remote PC] Load TurtleBot3 with OpenMANIPULATOR-X into Gazebo world with the following command.
Run move_group Node[Remote PC] In order to use Moveit feature, launch move_group node. If you press [▶] button in Gazebo to start simulation, use the following command.
Run RViz[Remote PC] Use Moveit feature in RViz by reading
Run ROBOTIS GUI Controller[Remote PC] You can also use ROBOTIS GUI to control the OpenMANIPULATOR-X in Gazebo. The GUI supports Task Space and Joint Space controls. Use any control methods you prefer.
Simulate TurtleBot3 Manipulation using Gazebo by following this section. Run Gazebo[Remote PC] Load TurtleBot3 with OpenMANIPULATOR-X into Gazebo world with the following command.
Run move_group Node[Remote PC] In order to use Moveit feature, launch move_group node. If you press [▶] button in Gazebo to start simulation, use the following command.
Run RViz[Remote PC] Use Moveit feature in RViz by reading
Run ROBOTIS GUI Controller[Remote PC] You can also use ROBOTIS GUI to control the OpenMANIPULATOR-X in Gazebo. The GUI supports Task Space and Joint Space controls. Use any control methods you prefer.
Note: This feature is available for Kinetic. Simulate the TurtleBot3 Manipulation using Gazebo by following the instructions below. How to Run Gazebo[Remote PC] Bringup the TurtleBot3 with OpenMANIPULATOR-X into Gazebo world with the following command.
TIP In order to run with RViz, append the
To control the TurtleBot3 in the Gazebo simulation, the servo server node of the MoveIt must be launched first.
Launch the keyboard teleoperation node.
TIP Following keys ard used to control the TurtleBot3.
Simulation with MoveIt[Remote PC] In order to use MoveIt to operate the OpenMANIPULATOR-X in the Gazebo, terminate other Gazebo and RViz tools first.
The MoveIt Interface on RViz will be launched along with the Gazebo simulator. Operate the Actual OpenMANIPULATORFollow the given instruction to operate your robot. Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup
Run move_group Node
Run RViz[Remote PC] Run Rviz to visualize data and to use the interactive marker.
Run ROBOTIS GUI Controller[Remote PC] OpenMANIPULATOR can be controlled with using ROBOTIS GUI controller instead of RVIz tool.
Follow the given instruction to operate your robot. Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup
Run move_group Node
Run RViz[Remote PC] Run Rviz to visualize data and to use the interactive marker.
Run ROBOTIS GUI Controller[Remote PC] OpenMANIPULATOR can be controlled with using ROBOTIS GUI controller instead of RVIz tool.
Note: This feature is available for Kinetic. Please be aware that the acutual hardware operation requires Bringup from the TurtleBot3 SBC. [Remote PC] Enter the command below to launch the MoveIt on RViz.
To operate the robot with the keyboard teleoperation node, the
RViz must be terminated.
SLAMUse SLAM feature to update an unknown map with TurtleBot3 and OpenMANIPULATOR ;Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
NOTE: As OpenMANIPULATOR on TurtleBot3 is not neccessory for SLAM, move_group and bringup nodes, which are the parameters to control OpenMANIPULATOR, are not important to use Run SLAM Node[Remote PC] Run SLAM node for updating an unknown map with TurtleBot3. This node utilizes gmapping package.
Run turtlebot3_teleop_key Node
Use SLAM feature to update an unknown map with TurtleBot3 and OpenMANIPULATOR ;Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
NOTE: As OpenMANIPULATOR on TurtleBot3 is not neccessory for SLAM, move_group and bringup nodes, which are the parameters to control OpenMANIPULATOR, are not important to use Run SLAM Node[Remote PC] Run SLAM node for updating an unknown map with TurtleBot3. This node utilizes gmapping package.
Run turtlebot3_teleop_key Node
Be sure to read SLAM manual before use of the following instruction. Run SLAM Nodes[Remote PC]
Run Teleoperation Nodes[Remote PC]
Save the Map[Remote PC]
Be sure to read SLAM manual before use of the following instruction. Run SLAM Nodes[Remote PC]
Run Teleoperation Nodes[Remote PC]
Save the Map[Remote PC]
NavigationSend TurtleBot3 with OpenMANIPULATOR to the desired position in the map using Navigation node. Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
Run Navigation Node[Remote PC] Run Navigation node with the following command, which will call Unified Robot Description Format (urdf) and configuration data of RViz to set GUI enviroment, parmeters for Navigation and updated map.
How to Control OpenMANIPULATOR with NavigationYou can run this node to control OpenMANIPULATOR on TurtleBot3 when TurtleBot3 is approaching to a goal position when Navigation node is running. However, when TurtleBot3 is in motion, the movement of OpenMANIPULATOR will be unstable by external influences, such as center of gravity, or vibration; so that it is recommended for the manipulator to be used when TurtleBot3 is not driving. Run Bringup node for OpenMANIPULATOR[Remote PC] Run turtlebot3_manipulation_bringup node just as use of single OpenMANIPULATOR. This node contains arm_controller and gripper_controller.
Run move_group Nodemove_group node supports two interfaces to control OpenMANIPULATOR; Moveit! and ROBOTIS GUI. Choose either of them according to your preference. In this section, GUI Controller is introduced only.
NOTE: Please refer to MoveIt! for more details. Run GUI ControllerUsing this interface, you can control OpenMANIPULATOR on TurtleBot3 [Remote PC]
Send TurtleBot3 with OpenMANIPULATOR to the desired position in the map using Navigation node. Run roscore[Remote PC] Run roscore to use ROS 1. Run Bringup[TurtleBot3 SBC] Run Bringup node for TurtleBot3, and start rosserial and LDS sensor using following command.
Run Navigation Node[Remote PC] Run Navigation node with the following command, which will call Unified Robot Description Format (urdf) and configuration data of RViz to set GUI enviroment, parmeters for Navigation and updated map.
How to Control OpenMANIPULATOR with NavigationYou can run this node to control OpenMANIPULATOR on TurtleBot3 when TurtleBot3 is approaching to a goal position when Navigation node is running. However, when TurtleBot3 is in motion, the movement of OpenMANIPULATOR will be unstable by external influences, such as center of gravity, or vibration; so that it is recommended for the manipulator to be used when TurtleBot3 is not driving. Run Bringup node for OpenMANIPULATOR[Remote PC] Run turtlebot3_manipulation_bringup node just as use of single OpenMANIPULATOR. This node contains arm_controller and gripper_controller.
Run move_group Nodemove_group node supports two interfaces to control OpenMANIPULATOR; Moveit! and ROBOTIS GUI. Choose either of them according to your preference. In this section, GUI Controller is introduced only.
NOTE: Please refer to MoveIt! for more details. Run GUI ControllerUsing this interface, you can control OpenMANIPULATOR on TurtleBot3 [Remote PC]
Be sure to read Navigation manual before use of the following instruction.
Be sure to read Navigation manual before use of the following instruction.
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