From e6e0b90a2b7ae9c6b774a557272b3b89e6ea4bee Mon Sep 17 00:00:00 2001 From: yunwonho Date: Wed, 27 Nov 2024 17:56:02 +0900 Subject: [PATCH 01/18] Added humble tab. --- .../openmanipulator_x/quick_start_guide.md | 25 +++++++++++++++++-- .../quick_start_guide_basic_operation.md | 11 +++++++- .../openmanipulator_x/ros_applications.md | 8 +++++- .../ros_controller_check_setting.md | 12 ++++++++- .../ros_controller_experiment.md | 11 +++++++- .../openmanipulator_x/ros_controller_msg.md | 11 +++++++- .../ros_controller_package.md | 11 +++++++- .../openmanipulator_x/ros_operation.md | 19 +++++++++++--- .../openmanipulator_x/ros_perceptions.md | 15 ++++++++--- .../openmanipulator_x/ros_simulation.md | 14 ++++++++--- 10 files changed, 118 insertions(+), 19 deletions(-) diff --git a/docs/en/platform/openmanipulator_x/quick_start_guide.md b/docs/en/platform/openmanipulator_x/quick_start_guide.md index a60767ef5..dffbaf786 100644 --- a/docs/en/platform/openmanipulator_x/quick_start_guide.md +++ b/docs/en/platform/openmanipulator_x/quick_start_guide.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -42,12 +43,16 @@ page_number: 4
+{% include en/platform/openmanipulator_x/quick_start_guide/ros_intro.md %} +
+ +
{% include en/platform/openmanipulator_x/quick_start_guide/arduino_intro.md %}
## [Setup](#setup) -
+
{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_arduino.md %}
@@ -70,6 +75,10 @@ page_number: 4
+{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy.md %} +
+ +
Not required. {: .notice--warning}
@@ -93,6 +102,10 @@ Not required.
+{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy_ros.md %} +
+ +
Not required. {: .notice--warning}
@@ -116,6 +129,10 @@ Not required.
+{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy_ros_packages.md %} +
+ +
Not required. {: .notice--warning}
@@ -139,6 +156,10 @@ Not required.
+{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_foxy.md %} +
+ +
Not required. {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md b/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md index f4d557836..911ad5ef4 100644 --- a/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md +++ b/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -65,6 +66,10 @@ Please note that this instruction is written for the **ROBOTIS official OpenMANI
+{% include en/platform/openmanipulator_x/quick_start_guide/launch_controller_foxy.md %} +
+ +
{% include en/platform/openmanipulator_x/quick_start_guide/launch_controller_arduino.md %}
@@ -87,6 +92,10 @@ Please note that this instruction is written for the **ROBOTIS official OpenMANI
+{% include en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_foxy.md %} +
+ +
Not supported. {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_applications.md b/docs/en/platform/openmanipulator_x/ros_applications.md index 4181958db..8d8273eb6 100644 --- a/docs/en/platform/openmanipulator_x/ros_applications.md +++ b/docs/en/platform/openmanipulator_x/ros_applications.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -51,6 +52,11 @@ Coming Soon (2021 4Q)
+Coming Soon (2021 4Q) +{: .notice--success} +
+ +
Master and Slave is not supported in Arduino {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md b/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md index cf98c138d..271044f77 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md @@ -11,7 +11,9 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino + sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -51,6 +53,10 @@ page_number: 7
+{% include en/platform/openmanipulator_x/controller/check_setting_dashing.md %} +
+ +
Not supported {: .notice--warning}
@@ -74,6 +80,10 @@ Not supported
+{% include en/platform/openmanipulator_x/controller/check_setting_rviz_dashing.md %} +
+ +
Not supported {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_controller_experiment.md b/docs/en/platform/openmanipulator_x/ros_controller_experiment.md index d3c43239d..fabaaa051 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_experiment.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_experiment.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -55,6 +56,10 @@ This section introduces other experimental controllers. These controllers may no
+{% include en/platform/openmanipulator_x/controller/moveit_dashing.md %} +
+ +
Not supported {: .notice--warning}
@@ -78,6 +83,10 @@ Not supported
+{% include en/platform/openmanipulator_x/controller/gravity_compensation_dashing.md %} +
+ +
Not supported {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_controller_msg.md b/docs/en/platform/openmanipulator_x/ros_controller_msg.md index 66117d9e9..d828f8ee7 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_msg.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_msg.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -84,6 +85,10 @@ The controller uses **topic** and **service** to control and check the status of
+{% include en/platform/openmanipulator_x/controller/msg_list_topic_foxy.md %} +
+ +
Not supported {: .notice--warning}
@@ -107,6 +112,10 @@ Not supported
+{% include en/platform/openmanipulator_x/controller/msg_list_service_foxy.md %} +
+ +
Not supported {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_controller_package.md b/docs/en/platform/openmanipulator_x/ros_controller_package.md index 1117595be..a8f55e8eb 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_package.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_package.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -42,6 +43,10 @@ page_number: 6
+{% include en/platform/openmanipulator_x/controller/launch_controller_pkg_foxy.md %} +
+ +
Arduino sketch for OpenCR OpenMANIPULATOR-X includes the controller in the code. {: .notice}
@@ -65,6 +70,10 @@ Arduino sketch for OpenCR OpenMANIPULATOR-X includes the controller in the code.
+{% include en/platform/openmanipulator_x/controller/launch_controller_foxy.md %} +
+ +
{% capture note_01 %} - Arduino sketch for OpenCR OpenMANIPULATOR-X includes the controller in the code. - Connecting the OpenMANIPULATOR-X and 12V power source, and turning on the power switch of the OpenCR 1.0 will automatically launch the controller. diff --git a/docs/en/platform/openmanipulator_x/ros_operation.md b/docs/en/platform/openmanipulator_x/ros_operation.md index b402af94a..e396f5ec6 100644 --- a/docs/en/platform/openmanipulator_x/ros_operation.md +++ b/docs/en/platform/openmanipulator_x/ros_operation.md @@ -11,7 +11,9 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino + sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -41,6 +43,10 @@ page_number: 10
+
+ +
+ ## [GUI Program](#gui-program)
@@ -60,9 +66,12 @@ page_number: 10
-{% include en/platform/openmanipulator_x/operation/gui_program_arduino.md %} +{% include en/platform/openmanipulator_x/operation/gui_program_dashing.md %}
+
+{% include en/platform/openmanipulator_x/operation/gui_program_arduino.md %} +
## [Teleoperation](#teleoperation) @@ -83,5 +92,9 @@ page_number: 10
-{% include en/platform/openmanipulator_x/operation/teleop_arduino.md %} +{% include en/platform/openmanipulator_x/operation/teleop_foxy.md %}
+ +
+{% include en/platform/openmanipulator_x/operation/teleop_arduino.md %} +
\ No newline at end of file diff --git a/docs/en/platform/openmanipulator_x/ros_perceptions.md b/docs/en/platform/openmanipulator_x/ros_perceptions.md index 436cb1e85..82fe25c4a 100644 --- a/docs/en/platform/openmanipulator_x/ros_perceptions.md +++ b/docs/en/platform/openmanipulator_x/ros_perceptions.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -56,6 +57,12 @@ This example is not supported.
+This example is not supported. +[https://github.com/ROBOTIS-GIT/open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions) +{: .notice--warning} +
+ +
The following is an example of connecting the OV7725 camera module with AL422B buffer to the GPIO of OpenCR. [https://community.robotsource.org/t/opencr-with-ov7725-al422b-camera-2-8-tftlcd/1413](https://community.robotsource.org/t/opencr-with-ov7725-al422b-camera-2-8-tftlcd/1413) @@ -68,7 +75,7 @@ The Arduino sketch code can be found from [OpenCR examples](https://github.com/R {% include en/platform/openmanipulator_x/perceptions/camera_kinetic.md %}
-
+
Not supported in Arduino {: .notice--warning}
@@ -79,7 +86,7 @@ Not supported in Arduino {% include en/platform/openmanipulator_x/perceptions/ar_marker_kinetic.md %}
-
+
Not supported in Arduino {: .notice--warning}
@@ -90,7 +97,7 @@ Not supported in Arduino {% include en/platform/openmanipulator_x/perceptions/pick_place_kinetic.md %}
-
+
Not supported in Arduino {: .notice--warning}
diff --git a/docs/en/platform/openmanipulator_x/ros_simulation.md b/docs/en/platform/openmanipulator_x/ros_simulation.md index 4ea4e5d12..c02c0ea7d 100644 --- a/docs/en/platform/openmanipulator_x/ros_simulation.md +++ b/docs/en/platform/openmanipulator_x/ros_simulation.md @@ -11,7 +11,8 @@ tab_title1: Kinetic tab_title2: Noetic tab_title3: Dashing tab_title4: Foxy -tab_title5: Arduino +tab_title5: Humble +tab_title6: Arduino sidebar: title: "OpenMANIPULATOR-X" nav: "openmanipulator_x" @@ -55,6 +56,11 @@ Coming Soon (2021 4Q)
+Coming Soon (2021 4Q) +{: .notice--success} +
+ +
Not supported with Arduino {: .notice--warning}
@@ -69,7 +75,7 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/launch_gazebo_noetic.md %} -
+
Not supported with Arduino {: .notice--warning}
@@ -84,7 +90,7 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/gazebo_controller_noetic.md %}
-
+
Not supported with Arduino {: .notice--warning}
@@ -99,7 +105,7 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/gazebo_operation_noetic.md %}
-
+
Not supported with Arduino {: .notice--warning}
From 431064fd05476dfea88b3d53e54d01f586b42645 Mon Sep 17 00:00:00 2001 From: yunwonho Date: Thu, 28 Nov 2024 12:26:45 +0900 Subject: [PATCH 02/18] Modified and Added omx's quick_start_guide-setup tab for humble --- .../quickstart_comm_interface_humble.md | 85 +++++++++++++++++++ .../quick_start_guide/quickstart_humble.md | 10 +++ .../quickstart_humble_ros.md | 20 +++++ .../quickstart_humble_ros_packages.md | 13 +++ .../openmanipulator_x/quick_start_guide.md | 8 +- 5 files changed, 132 insertions(+), 4 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md new file mode 100644 index 000000000..d943bce8d --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md @@ -0,0 +1,85 @@ +There are two communication interface hardware options available for controlling the OpenMANIPULATOR-X. Please select one of the below options. +After completing this section, turn on the power switch and check if all DYNAMIXEL LED blink once. + +
+ +![](/assets/images/icon_unfold.png) **Option 1(Recommended) : Use U2D2 as a communication interface** + + +#### Connection +Connect micro USB (connected to PC), DYNAMIXEL's(OpenMANIPULATOR-X), and 12V Power to U2D2 and U2D2 power hub board as shown below. + + + +**NOTE** : Please refer to [U2D2 e-Manual](/docs/en/parts/interface/u2d2/) and [U2D2 power hub board e-manual](/docs/en/parts/interface/u2d2_power_hub/) for detailed connection of U2D2 and U2D2 power hub board. +{: .notice--info} + +#### USB Latency Timer Setting +In Linux(Ubuntu platform) environment, USB latency time is set to 16ms by default. Follow the steps below to set the communication latency time to the lowest value (1ms) between DYNAMIXEL's and PC connected via USB. + +Open a terminal window and enter the following command to set usb latency time. The command below will set the USB latency to **1 ms**. + +**TIP**: You can open a new terminal window by pressing `ALT` + `CTRL` + `T`. +{: .notice} + +``` bash +$ ros2 run open_manipulator_x_controller create_udev_rules +``` + +{% capture notice_01 %} +**TIP**: If you would like to see the current latency, enter the following command in the terminal. + +```bash +$ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer +``` + +{% endcapture %} +
{{ notice_01 | markdownify }}
+
+ + +
+ +![](/assets/images/icon_unfold.png) **Option 2 : Use OpenCR as a communication interface** + + +This section describes how to set up OpenCR as a communication board between **ROS Packages** of PC and DYNAMIXEL's of OpenMANIPULATOR-X. +If you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, see [OpenCR Setup](/docs/en/platform/openmanipulator_x/opencr_setup/#opencr-setup). + +#### Connection + +Connect micro USB (connected to PC), DYNAMIXEL's(OpenMANIPULATOR-X), and 12V Power to OpenCR as shown below. + + + +#### Upload Source code + +1. Set up the Arduino IDE for OpenCR ([Instructions](/docs/en/parts/controller/opencr10/#arduino-ide)) + +2. Connect OpenCR to the PC. + +3. Open the example from `File > Examples > OpenCR > 10.Etc > usb_to_dxl` + ![](/assets/images/platform/openmanipulator_x/OpenManipulator_opencr_utd_setup.png) + > Open the `usb to dxl` example. + +4. Upload the example to OpenCR. + ![](/assets/images/platform/openmanipulator_x/upload_use_to_dxl.png) + +5. When the upload is completed, the following comments are displayed in the log window. + ![](/assets/images/parts/controller/opencr10/downloader_01.png) + + +{% capture note_03 %} +`FAQ` +If upload fails, try with [Recovery Mode](/docs/en/parts/controller/opencr10/#recovery-mode) +1. Turn on the power of the OpenCR board. +2. Hold down the `PUSH SW2` button. +3. Press the `Reset` button. +4. Release the `Reset` button. +5. Release the `PUSH SW2` button. + +The STATUS LED should blink every 100ms after entering Recovery Mode successfully. +{% endcapture %} +
{{ note_03 | markdownify }}
+ +
diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble.md new file mode 100644 index 000000000..622843910 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble.md @@ -0,0 +1,10 @@ + +Installing Ubuntu on a PC or laptop may differ by model. Please contact the manufacturer or community for more details. +{: .notice--warning} + +ROS 2 Humble is supported on `Ubuntu 22.04`. +Please refer to the Ubuntu installation tutorial below. + +- ![](/assets/images/icon_download.png) [Download Ubuntu](https://releases.ubuntu.com/?_ga=2.219480409.1908348701.1627362888-1311983284.1627362888) + +- [Official Ubuntu Installation Tutorial](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview) diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md new file mode 100644 index 000000000..b3fd4b3df --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md @@ -0,0 +1,20 @@ +![](/assets/images/platform/openmanipulator_p/logo_ros.png) + +Please follow [the official ROS2 documentation](https://docs.ros.org/en/humble/Installation.html) to install the ROS2 Humble. +For most Linux users, [Debian package installation](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) method is strongly recommended. + + \ No newline at end of file diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md new file mode 100644 index 000000000..dc0579380 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -0,0 +1,13 @@ + +Install dependent packages for OpenMANIPULATOR-X. Run the following commands in a terminal window. + + +```bash +$ sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit +``` + +```bash +$ cd ~/colcon_ws/src/ +$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/open_manipulator.git +$ cd ~/colcon_ws && colcon build --symlink-install +``` diff --git a/docs/en/platform/openmanipulator_x/quick_start_guide.md b/docs/en/platform/openmanipulator_x/quick_start_guide.md index dffbaf786..c1d587cf4 100644 --- a/docs/en/platform/openmanipulator_x/quick_start_guide.md +++ b/docs/en/platform/openmanipulator_x/quick_start_guide.md @@ -75,7 +75,7 @@ page_number: 4
-{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_humble.md %}
@@ -102,7 +102,7 @@ Not required.
-{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy_ros.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md %}
@@ -129,7 +129,7 @@ Not required.
-{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_foxy_ros_packages.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md %}
@@ -156,7 +156,7 @@ Not required.
-{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_foxy.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md %}
From d2221b835827fe317e5445166300278ade43a5de Mon Sep 17 00:00:00 2001 From: yunwonho Date: Thu, 28 Nov 2024 16:08:34 +0900 Subject: [PATCH 03/18] Modified and Added omx's quick_start_guide-Basic Operation tab for humble --- .../keyboard_teleop_humble.md | 23 +++ .../launch_controller_humble.md | 176 ++++++++++++++++++ .../quick_start_guide_basic_operation.md | 4 +- 3 files changed, 201 insertions(+), 2 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md new file mode 100644 index 000000000..62d5af435 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md @@ -0,0 +1,23 @@ + +Open another terminal and enter below command. +```bash +$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop +``` + + +You will see below interface on the terminal window after a successful launch. +``` +[INFO] [1732776371.215661501] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER +[INFO] [1732776371.216112752] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER +[INFO] [1732776371.216172872] [servo_keyboard_input]: call 'moveit_servo' start srv. +[INFO] [1732776371.283417067] [servo_keyboard_input]: SUCCESS to start 'moveit_servo' +Reading from keyboard +--------------------------- +Joint Control Keys: + 1/q: Joint1 +/- + 2/w: Joint2 +/- + 3/e: Joint3 +/- + 4/r: Joint4 +/- +Use o|p to open/close the gripper. +'ESC' to quit. +``` diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md new file mode 100644 index 000000000..37638a0c7 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md @@ -0,0 +1,176 @@ + +After running this section, software controller that controls the OpenMANIPULAOTR-X will be launched and each joint of the OpenMANIPULATOR-X will be locked (Torque On). + +- When operating with `U2D2` +Close all terminal and enter the command below in each new terminal. +```bash +$ ros2 launch open_manipulator_x_bringup hardware.launch.py +$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py +``` + + + +{% capture warning_01 %} +**WARNING** : +Please check each joint position before running OpenMANIPULATOR-X. If joints are set inappropriately, OpenMANIPULATOR-X might not start operating. +The picture of OpenMANIPULATOR-X below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque is not enabled. + + +{% endcapture %} +
{{ warning_01 | markdownify }}
+ +Launch result on the terminal will look like below. +```bash +$ ros2 launch open_manipulator_x_bringup hardware.launch.py +``` + +``` +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-39-21-377604-omx-21792 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ros2_control_node-1]: process started with pid [21795] +[INFO] [robot_state_publisher-2]: process started with pid [21797] +[INFO] [spawner-3]: process started with pid [21799] +[ros2_control_node-1] [WARN] [1732775961.647409323] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1732775961.647732674] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.650387218] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] transmission_to_joint_matrix_ +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] joint_to_transmission_matrix_ +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] [INFO] [1732775961.650702017] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] Dynamixel Information File List. +[ros2_control_node-1] num: 1000, name: xh430_w350.model +[ros2_control_node-1] num: 1020, name: xm430_w350.model +[ros2_control_node-1] num: 1060, name: xl430_w250.model +[ros2_control_node-1] num: 1080, name: xc430_w240.model +[ros2_control_node-1] num: 1100, name: xh540_w270.model +[ros2_control_node-1] num: 1160, name: 2xc430_w250.model +[ros2_control_node-1] num: 4000, name: ym070_210_m001.model +[ros2_control_node-1] num: 4020, name: ym070_210_r051.model +[ros2_control_node-1] num: 4030, name: ym070_210_r099.model +[ros2_control_node-1] num: 4120, name: ym080_230_m001.model +[ros2_control_node-1] num: 4140, name: ym080_230_r051.model +[ros2_control_node-1] num: 4150, name: ym080_230_r099.model +[ros2_control_node-1] num: 35074, name: rh_p12_rn.model +[ros2_control_node-1] [INFO] [1732775961.650972390] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1732775961.650978848] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] Succeeded to open the port! +[ros2_control_node-1] Succeeded to change the [1000000] baudrate! +[ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 +[robot_state_publisher-2] [INFO] [1732775961.654714921] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1732775961.654781535] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1732775961.654786706] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1732775961.654789648] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1732775961.654792365] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1732775961.654794901] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1732775961.654797487] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1732775961.654799877] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1732775961.654802152] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1732775961.654804416] [robot_state_publisher]: got segment world +[ros2_control_node-1] [ID:012] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [INFO] [1732775961.663020717] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1732775961.663086277] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1732775961.665305846] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.667285868] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.669291131] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.671288654] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.671336766] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] Dynamixel Read Type : sync read +[ros2_control_node-1] ID : 11, 12, 13, 14, 15, +[ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage +[ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 +[ros2_control_node-1] Success to set SyncRead handler using indirect address +[ros2_control_node-1] [INFO] [1732775961.802404044] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] Dynamixel Write Type : sync write +[ros2_control_node-1] ID : 11, 12, 13, 14, 15, +[ros2_control_node-1] Write items : Goal Position +[ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 +[ros2_control_node-1] Success to set SyncWrite handler using indirect address +[ros2_control_node-1] [INFO] [1732775961.848599813] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848643868] [dynamixel_hardware_interface]: ros_update rate is 200hz +[ros2_control_node-1] [INFO] [1732775961.848933885] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848950710] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848969965] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[spawner-3] [INFO] [1732775961.853098097] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... +[ros2_control_node-1] [INFO] [1732775961.855413362] [dynamixel_hardware_interface]: Sync joint state to command (position, 2.19834 <- position, 2.19834 +[ros2_control_node-1] [INFO] [1732775961.855483775] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.95701 <- position, 3.95701 +[ros2_control_node-1] [INFO] [1732775961.855512837] [dynamixel_hardware_interface]: Sync joint state to command (position, 16.0039 <- position, 16.0039 +[ros2_control_node-1] [INFO] [1732775961.855537887] [dynamixel_hardware_interface]: Sync joint state to command (position, 66.4778 <- position, 66.4778 +[ros2_control_node-1] [INFO] [1732775961.855562669] [dynamixel_hardware_interface]: Sync joint state to command (position, 50.7377 <- position, 50.7377 +[ros2_control_node-1] [ID:011] Torque ON +[ros2_control_node-1] [ID:012] Torque ON +[ros2_control_node-1] [ID:013] Torque ON +[ros2_control_node-1] [ID:014] Torque ON +[ros2_control_node-1] [ID:015] Torque ON +[ros2_control_node-1] [INFO] [1732775962.365291262] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1732775962.365471552] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775962.372136019] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [WARN] [1732775962.372436132] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1732775962.608221107] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1732775962.619721516] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1732775962.620824998] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1732775962.620980973] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1732775962.641741456] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 21799] +[INFO] [spawner-4]: process started with pid [21844] +[INFO] [spawner-5]: process started with pid [21846] +[ros2_control_node-1] [INFO] [1732775962.982777514] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1732775962.991831509] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[ros2_control_node-1] [INFO] [1732775962.998816098] [controller_manager]: Loading controller 'gripper_controller' +[spawner-5] [INFO] [1732775963.006563977] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1732775963.007177493] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1732775963.007319562] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1732775963.007338708] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1732775963.007385182] [arm_controller]: Using 'splines' interpolation method. +[ros2_control_node-1] [INFO] [1732775963.007861186] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1732775963.008528831] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[spawner-4] [INFO] [1732775963.018263910] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1732775963.026574485] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1732775963.026671830] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-5] [INFO] [1732775963.027360522] [spawner_arm_controller]: Configured and activated arm_controller +[spawner-4] [INFO] [1732775963.130766130] [spawner_gripper_controller]: Configured and activated gripper_controller +[INFO] [spawner-5]: process has finished cleanly [pid 21846] +[INFO] [spawner-4]: process has finished cleanly [pid 21844] +``` + +```bash +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` +``` +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [servo_node_main-1]: process started with pid [22595] +[servo_node_main-1] [WARN] [1732776698.266193749] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: +[servo_node_main-1] extra_arguments=[{'use_intra_process_comms' : True}] +[servo_node_main-1] to the Servo composable node in the launch file +[servo_node_main-1] [INFO] [1732776698.270341102] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00252236 seconds +[servo_node_main-1] [INFO] [1732776698.270367397] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... +[servo_node_main-1] [WARN] [1732776698.329940951] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. +[servo_node_main-1] [INFO] [1732776698.542474436] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' +[servo_node_main-1] [INFO] [1732776698.544878602] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects +[servo_node_main-1] [INFO] [1732776698.544895196] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor +[servo_node_main-1] [INFO] [1732776698.545435210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' +[servo_node_main-1] [INFO] [1732776698.545607100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' +``` + +{% capture notice_01 %} +**TIP**: +- If you can't load DYNAMIXEL, please check firmware to use ROBOTIS software ([DYNAMIXEL Wizard 2.0](/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-update)) + +{% endcapture %} +
{{ notice_01 | markdownify }}
diff --git a/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md b/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md index 911ad5ef4..c50ac8815 100644 --- a/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md +++ b/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation.md @@ -66,7 +66,7 @@ Please note that this instruction is written for the **ROBOTIS official OpenMANI
-{% include en/platform/openmanipulator_x/quick_start_guide/launch_controller_foxy.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md %}
@@ -92,7 +92,7 @@ Please note that this instruction is written for the **ROBOTIS official OpenMANI
-{% include en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_foxy.md %} +{% include en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md %}
From dda3f7d3e684d4678d10bd60fe3a608ee1a252cc Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 11:16:23 +0900 Subject: [PATCH 04/18] Modified and Added omx's Operation tab for humble --- .../operation/gui_program_humble.md | 41 ++++++++++++++ .../operation/teleop_humble.md | 53 ++++++++++++++++++ .../OpenManipulator_x_GUI.png | Bin 0 -> 64200 bytes .../OpenManipulator_x_GUI2.png | Bin 0 -> 64315 bytes .../OpenManipulator_x_GUI3.png | Bin 0 -> 75826 bytes .../OpenManipulator_x_GUI4.png | Bin 0 -> 79393 bytes .../OpenManipulator_x_GUI5.png | Bin 0 -> 92223 bytes .../OpenManipulator_x_GUI6.png | Bin 0 -> 112834 bytes .../OpenManipulator_x_GUI7.png | Bin 0 -> 118244 bytes .../openmanipulator_x/ros_operation.md | 4 +- 10 files changed, 96 insertions(+), 2 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/operation/gui_program_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/operation/teleop_humble.md create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI2.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI3.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI4.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI5.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI6.png create mode 100644 assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI7.png diff --git a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md new file mode 100644 index 000000000..2907282d0 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md @@ -0,0 +1,41 @@ +{% capture notice_01 %} +**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](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) instructions before running the GUI Program. +{% endcapture %} +
{{ notice_01 | markdownify }}
+ +1. Before Launch the GUI program, the [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) must be running on another terminal. Plus launch moveit_core using this command in the new terminal. +```bash +$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py +``` + +2. Launch the GUI program. +```bash +$ ros2 launch open_manipulator_x_gui open_manipulator_x_gui.launch.py +``` + +3. Click the `Timer Start` button. +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI2.png) + +4. Check the status of OpenMANIPULATOR-X. +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI3.png) + +5. To manipulate OpenMANIPULATOR-X in the [joint space]{: .popup}, enter the joint angles and total time for the trajectory. Then click the `send` button to start the motion. +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI4.png) + +6. To manipulate OpenMANIPULATOR-X in the [task space]{: .popup}, enter the kinematics pose of the OpenMANIPULATOR-X end-effector(tool) in the [task space]{: .popup}. Then click the `send` button to start the motion. +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI5.png) + +7. Create a task constructor with OpenMANIPULATOR-X. +7.1. Click the `Read task` button to prepare for saving tasks. +7.2. Adjust the manipulator's posture and save it by clicking `Save pose`. +7.3. Save multiple postures to complete the preparation. +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI6.png) + +Press the `Play` button to make the manipulator move sequentially according to the saved tasks. Completed tasks will have their status changed to Done +![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI7.png) + + +[task space]: /docs/en/popup/open_manipulator_coordinates/ +[joint space]: /docs/en/popup/open_manipulator_coordinates/ diff --git a/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md b/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md new file mode 100644 index 000000000..6f7415774 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md @@ -0,0 +1,53 @@ + +{% capture notice_01 %} +**NOTE**: +- Make sure ROS dependencies are installed before performing these instructions - [Install ROS Packages](/docs/en/platform/openmanipulator_x/ros_setup/#install-ros-packages) +- Make sure to run [OpenMANIPULATOR-X controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) instructions before use of the instruction +{% endcapture %} +
{{ notice_01 | markdownify }}
+ + + +### [Keyboard](#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`. +{: .notice--success} + +1. Launch `servo_keyboard_input` node for simple teleoperation test using the keyboard. +The [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) must be running on another terminal. +```bash +$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop +``` + +2. If the node is successfully launched, the following instruction will appear in the terminal window. + + ``` +[INFO] [1732776371.215661501] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER +[INFO] [1732776371.216112752] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER +[INFO] [1732776371.216172872] [servo_keyboard_input]: call 'moveit_servo' start srv. +[INFO] [1732776371.283417067] [servo_keyboard_input]: SUCCESS to start 'moveit_servo' +Reading from keyboard +--------------------------- +Joint Control Keys: + 1/q: Joint1 +/- + 2/w: Joint2 +/- + 3/e: Joint3 +/- + 4/r: Joint4 +/- +Use o|p to open/close the gripper. +'ESC' to quit. + ``` + +### [RC-100](#rc-100) + +Not supported. +{: .notice--warning} + +### [PS4 Joystick](#ps4-joystick) + +Not supported. +{: .notice--warning} + +### [XBOX 360 Joystick](#xbox-360-joystick) + +Not supported. +{: .notice--warning} \ No newline at end of file diff --git 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-{% include en/platform/openmanipulator_x/operation/gui_program_dashing.md %} +{% include en/platform/openmanipulator_x/operation/gui_program_humble.md %}
@@ -92,7 +92,7 @@ page_number: 10
-{% include en/platform/openmanipulator_x/operation/teleop_foxy.md %} +{% include en/platform/openmanipulator_x/operation/teleop_humble.md %}
From 9cc67fb453c545e4f6a683329b849b8ebf2c778c Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 11:52:37 +0900 Subject: [PATCH 05/18] Modified and Added omx's Controller-Launch Controller tab for humble --- .../controller/launch_controller_humble.md | 180 ++++++++++++++++++ .../launch_controller_pkg_humble.md | 7 + .../ros_controller_package.md | 4 +- 3 files changed, 189 insertions(+), 2 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/controller/launch_controller_pkg_humble.md diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md new file mode 100644 index 000000000..e1683c459 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md @@ -0,0 +1,180 @@ +Open a new terminal and launch the open_manipulator_controller package. + +- When operating with `U2D2` +Close all terminal and enter the command below in each new terminal. +```bash +$ ros2 launch open_manipulator_x_bringup hardware.launch.py +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` + + + +{% capture warning_01 %} +**WARNING** : +Please check each joint position before running OpenMANIPULATOR-X. The manipulator will not operate if any joint is out of operable range. +The following image describes the recommended pose of OpenMANIPULATOR-X at start up. Please adjust the pose before the torque is turned on by the controller. + + +{% endcapture %} +
{{ warning_01 | markdownify }}
+ +Follwing message will be shown in the Terminal after the process done successfully with `U2D2`. + +```bash +$ ros2 launch open_manipulator_x_bringup hardware.launch.py +``` + +``` +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-39-21-377604-omx-21792 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [ros2_control_node-1]: process started with pid [21795] +[INFO] [robot_state_publisher-2]: process started with pid [21797] +[INFO] [spawner-3]: process started with pid [21799] +[ros2_control_node-1] [WARN] [1732775961.647409323] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1732775961.647732674] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.650387218] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] transmission_to_joint_matrix_ +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] joint_to_transmission_matrix_ +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] [INFO] [1732775961.650702017] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] Dynamixel Information File List. +[ros2_control_node-1] num: 1000, name: xh430_w350.model +[ros2_control_node-1] num: 1020, name: xm430_w350.model +[ros2_control_node-1] num: 1060, name: xl430_w250.model +[ros2_control_node-1] num: 1080, name: xc430_w240.model +[ros2_control_node-1] num: 1100, name: xh540_w270.model +[ros2_control_node-1] num: 1160, name: 2xc430_w250.model +[ros2_control_node-1] num: 4000, name: ym070_210_m001.model +[ros2_control_node-1] num: 4020, name: ym070_210_r051.model +[ros2_control_node-1] num: 4030, name: ym070_210_r099.model +[ros2_control_node-1] num: 4120, name: ym080_230_m001.model +[ros2_control_node-1] num: 4140, name: ym080_230_r051.model +[ros2_control_node-1] num: 4150, name: ym080_230_r099.model +[ros2_control_node-1] num: 35074, name: rh_p12_rn.model +[ros2_control_node-1] [INFO] [1732775961.650972390] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1732775961.650978848] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] Succeeded to open the port! +[ros2_control_node-1] Succeeded to change the [1000000] baudrate! +[ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 +[robot_state_publisher-2] [INFO] [1732775961.654714921] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1732775961.654781535] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1732775961.654786706] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1732775961.654789648] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1732775961.654792365] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1732775961.654794901] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1732775961.654797487] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1732775961.654799877] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1732775961.654802152] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1732775961.654804416] [robot_state_publisher]: got segment world +[ros2_control_node-1] [ID:012] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 +[ros2_control_node-1] [INFO] [1732775961.663020717] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1732775961.663086277] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1732775961.665305846] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.667285868] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.669291131] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.671288654] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1732775961.671336766] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] Dynamixel Read Type : sync read +[ros2_control_node-1] ID : 11, 12, 13, 14, 15, +[ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage +[ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 +[ros2_control_node-1] Success to set SyncRead handler using indirect address +[ros2_control_node-1] [INFO] [1732775961.802404044] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] Dynamixel Write Type : sync write +[ros2_control_node-1] ID : 11, 12, 13, 14, 15, +[ros2_control_node-1] Write items : Goal Position +[ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 +[ros2_control_node-1] Success to set SyncWrite handler using indirect address +[ros2_control_node-1] [INFO] [1732775961.848599813] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848643868] [dynamixel_hardware_interface]: ros_update rate is 200hz +[ros2_control_node-1] [INFO] [1732775961.848933885] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848950710] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775961.848969965] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[spawner-3] [INFO] [1732775961.853098097] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... +[ros2_control_node-1] [INFO] [1732775961.855413362] [dynamixel_hardware_interface]: Sync joint state to command (position, 2.19834 <- position, 2.19834 +[ros2_control_node-1] [INFO] [1732775961.855483775] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.95701 <- position, 3.95701 +[ros2_control_node-1] [INFO] [1732775961.855512837] [dynamixel_hardware_interface]: Sync joint state to command (position, 16.0039 <- position, 16.0039 +[ros2_control_node-1] [INFO] [1732775961.855537887] [dynamixel_hardware_interface]: Sync joint state to command (position, 66.4778 <- position, 66.4778 +[ros2_control_node-1] [INFO] [1732775961.855562669] [dynamixel_hardware_interface]: Sync joint state to command (position, 50.7377 <- position, 50.7377 +[ros2_control_node-1] [ID:011] Torque ON +[ros2_control_node-1] [ID:012] Torque ON +[ros2_control_node-1] [ID:013] Torque ON +[ros2_control_node-1] [ID:014] Torque ON +[ros2_control_node-1] [ID:015] Torque ON +[ros2_control_node-1] [INFO] [1732775962.365291262] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1732775962.365471552] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1732775962.372136019] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [WARN] [1732775962.372436132] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1732775962.608221107] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1732775962.619721516] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1732775962.620824998] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1732775962.620980973] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1732775962.641741456] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 21799] +[INFO] [spawner-4]: process started with pid [21844] +[INFO] [spawner-5]: process started with pid [21846] +[ros2_control_node-1] [INFO] [1732775962.982777514] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1732775962.991831509] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[ros2_control_node-1] [INFO] [1732775962.998816098] [controller_manager]: Loading controller 'gripper_controller' +[spawner-5] [INFO] [1732775963.006563977] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1732775963.007177493] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1732775963.007319562] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1732775963.007338708] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1732775963.007385182] [arm_controller]: Using 'splines' interpolation method. +[ros2_control_node-1] [INFO] [1732775963.007861186] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1732775963.008528831] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[spawner-4] [INFO] [1732775963.018263910] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1732775963.026574485] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1732775963.026671830] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-5] [INFO] [1732775963.027360522] [spawner_arm_controller]: Configured and activated arm_controller +[spawner-4] [INFO] [1732775963.130766130] [spawner_gripper_controller]: Configured and activated gripper_controller +[INFO] [spawner-5]: process has finished cleanly [pid 21846] +[INFO] [spawner-4]: process has finished cleanly [pid 21844] +``` + +```bash +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` +``` +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [servo_node_main-1]: process started with pid [22595] +[servo_node_main-1] [WARN] [1732776698.266193749] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: +[servo_node_main-1] extra_arguments=[{'use_intra_process_comms' : True}] +[servo_node_main-1] to the Servo composable node in the launch file +[servo_node_main-1] [INFO] [1732776698.270341102] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00252236 seconds +[servo_node_main-1] [INFO] [1732776698.270367397] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... +[servo_node_main-1] [WARN] [1732776698.329940951] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. +[servo_node_main-1] [INFO] [1732776698.542474436] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' +[servo_node_main-1] [INFO] [1732776698.544878602] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects +[servo_node_main-1] [INFO] [1732776698.544895196] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor +[servo_node_main-1] [INFO] [1732776698.545435210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' +[servo_node_main-1] [INFO] [1732776698.545607100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' +``` + +{% capture notice_01 %} +**TIP**: +- If you can't load DYNAMIXEL, please check firmware to use ROBOTIS software ([DYNAMIXEL Wizard 2.0](/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-update)) + +{% endcapture %} +
{{ notice_01 | markdownify }}
+ + diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_pkg_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_pkg_humble.md new file mode 100644 index 000000000..b15f36e8f --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_pkg_humble.md @@ -0,0 +1,7 @@ +The OpenMANIPULATOR-X controller has been restructured to utilize the ros2_control framework and MoveIt for enhanced flexibility, modularity, and usability. This updated controller allows for seamless integration with ROS 2-based systems, offering advanced features such as trajectory planning, real-time control, and state feedback. + +{% capture notice_01 %} +**NOTE**: +- Make sure ROS dependencies are installed before performing these instructions. - [Install ROS Packages](/docs/en/platform/openmanipulator_x/quick_start_guide/#install-ros-packages) +{% endcapture %} +
{{ notice_01 | markdownify }}
diff --git a/docs/en/platform/openmanipulator_x/ros_controller_package.md b/docs/en/platform/openmanipulator_x/ros_controller_package.md index a8f55e8eb..551a273c5 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_package.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_package.md @@ -43,7 +43,7 @@ page_number: 6
-{% include en/platform/openmanipulator_x/controller/launch_controller_pkg_foxy.md %} +{% include en/platform/openmanipulator_x/controller/launch_controller_pkg_humble.md %}
@@ -70,7 +70,7 @@ Arduino sketch for OpenCR OpenMANIPULATOR-X includes the controller in the code.
-{% include en/platform/openmanipulator_x/controller/launch_controller_foxy.md %} +{% include en/platform/openmanipulator_x/controller/launch_controller_humble.md %}
From a213da84602ff5ab1510ff6e59582df61918b75b Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 12:14:09 +0900 Subject: [PATCH 06/18] Modified and Added omx's Contorller-Check Setting tab for humble --- .../openmanipulator_x/controller/check_setting_humble.md | 2 ++ .../controller/check_setting_rviz_humble.md | 5 +++++ .../openmanipulator_x/ros_controller_check_setting.md | 5 +++-- 3 files changed, 10 insertions(+), 2 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/controller/check_setting_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/controller/check_setting_rviz_humble.md diff --git a/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md b/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md new file mode 100644 index 000000000..e35a9f85e --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md @@ -0,0 +1,2 @@ +Not supported. +{: .notice--warning} \ No newline at end of file diff --git a/_includes/en/platform/openmanipulator_x/controller/check_setting_rviz_humble.md b/_includes/en/platform/openmanipulator_x/controller/check_setting_rviz_humble.md new file mode 100644 index 000000000..fd87770dc --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/controller/check_setting_rviz_humble.md @@ -0,0 +1,5 @@ +Load OpenMANIPULATOR-X on RViz. +``` bash +$ ros2 launch open_manipulator_x_description model.launch.py +``` +![](/assets/images/platform/openmanipulator_x/ros2_OpenManipulator_rviz.png) diff --git a/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md b/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md index 271044f77..366b90e7c 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_check_setting.md @@ -53,7 +53,8 @@ page_number: 7
-{% include en/platform/openmanipulator_x/controller/check_setting_dashing.md %} +Not supported. +{: .notice--warning}
@@ -80,7 +81,7 @@ Not supported
-{% include en/platform/openmanipulator_x/controller/check_setting_rviz_dashing.md %} +{% include en/platform/openmanipulator_x/controller/check_setting_rviz_humble.md %}
From 23025b745e69fcb53cb0832a2b7ce1baa29bfbf4 Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 13:53:38 +0900 Subject: [PATCH 07/18] Modified omx's Controller-Message_List tab for humble --- .../openmanipulator_x/ros_controller_msg.md | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/docs/en/platform/openmanipulator_x/ros_controller_msg.md b/docs/en/platform/openmanipulator_x/ros_controller_msg.md index d828f8ee7..07826cf10 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_msg.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_msg.md @@ -66,6 +66,15 @@ Please launch the [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulat The controller uses **topic** and **service** to control and check the status of OpenMANIPULATOR-X.
+
+**NOTE**: +If you want to learn more, please refer to the official documentation for MoveIt 2 and ros2_control: +[MoveIt 2 Documentation](https://moveit.picknik.ai/main/index.html) +[ros2_control Documentation](https://control.ros.org/humble/index.html) +{: .notice--info} +
+ + ### [Topic](#topic)
@@ -85,7 +94,8 @@ The controller uses **topic** and **service** to control and check the status of
-{% include en/platform/openmanipulator_x/controller/msg_list_topic_foxy.md %} +Not supported +{: .notice--warning}
@@ -112,7 +122,8 @@ Not supported
-{% include en/platform/openmanipulator_x/controller/msg_list_service_foxy.md %} +Not supported +{: .notice--warning}
From 0c789bbe7f936e01e7b551d669820b87373fa1fe Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 17:16:34 +0900 Subject: [PATCH 08/18] Modified and Added omx's Controller-Experimental tab for humble --- .../controller/moveit_humble.md | 22 +++++++++++++++++++ .../ros_controller_experiment.md | 4 +++- 2 files changed, 25 insertions(+), 1 deletion(-) create mode 100644 _includes/en/platform/openmanipulator_x/controller/moveit_humble.md diff --git a/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md b/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md new file mode 100644 index 000000000..d61c7617e --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md @@ -0,0 +1,22 @@ +MoveIt! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking. + +#### [Launch MoveIt!](#launch-moveit) + +Before launching MoveIt, ensure that the `hardware.launch.py` from [Launch Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) is running in a separate terminal. +Then launch **MoveIt!** with the following command. +```bash +$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py +``` + ![](/assets/images/platform/openmanipulator_x/moveit_launch.png) + +#### [Using MoveIt! with Gazebo](#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](/docs/en/platform/openmanipulator_x/ros_simulation/) + +Close all terminals and then launch the Gazebo simulator and RViz visualization tool. +```bash +$ ros2 launch open_manipulator_x_moveit_config moveit_gazebo.launch.py +``` diff --git a/docs/en/platform/openmanipulator_x/ros_controller_experiment.md b/docs/en/platform/openmanipulator_x/ros_controller_experiment.md index fabaaa051..f82094a67 100644 --- a/docs/en/platform/openmanipulator_x/ros_controller_experiment.md +++ b/docs/en/platform/openmanipulator_x/ros_controller_experiment.md @@ -33,9 +33,11 @@ page_number: 9 ## [Experimental](#experimental) +{% if page.tab_title5 != "Humble" %} **WARNING** This section introduces other experimental controllers. These controllers may not fully compatible with OpenMANIPULATOR-X. {: .notice--warning} +{% endif %} ### [MoveIt!](#moveit) @@ -56,7 +58,7 @@ This section introduces other experimental controllers. These controllers may no
-{% include en/platform/openmanipulator_x/controller/moveit_dashing.md %} +{% include en/platform/openmanipulator_x/controller/moveit_humble.md %}
From 55b5593c20749ee65657dcc4d291f848d6bd2514 Mon Sep 17 00:00:00 2001 From: yunwonho Date: Fri, 29 Nov 2024 17:41:16 +0900 Subject: [PATCH 09/18] Modified and Added omx's Simpulation tab for humble --- .../simulation/gazebo_controller_humble.md | 106 ++++++++++++++++++ .../simulation/gazebo_operation_humble.md | 28 +++++ .../simulation/launch_gazebo_humble.md | 9 ++ .../openmanipulator_x/ros_simulation.md | 16 ++- 4 files changed, 157 insertions(+), 2 deletions(-) create mode 100644 _includes/en/platform/openmanipulator_x/simulation/gazebo_controller_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md create mode 100644 _includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md diff --git a/_includes/en/platform/openmanipulator_x/simulation/gazebo_controller_humble.md b/_includes/en/platform/openmanipulator_x/simulation/gazebo_controller_humble.md new file mode 100644 index 000000000..9af49ed57 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/simulation/gazebo_controller_humble.md @@ -0,0 +1,106 @@ + +Launch the open_manipulator_controller for Gazebo simulation. + +``` bash +$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py +``` + +If the OpenMANIPULATOR-X controller for Gazebo simulation Launched successfully, the below messages will be printed on the terminal. + +``` +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-29-17-28-11-688953-omx-32077 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [rviz2-1]: process started with pid [32079] +[INFO] [move_group-2]: process started with pid [32081] +[move_group-2] [WARN] [1732868892.050631042] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). +[move_group-2] [INFO] [1732868892.053471484] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds +[move_group-2] [INFO] [1732868892.053512872] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... +[move_group-2] [WARN] [1732868892.116979404] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. +[move_group-2] [INFO] [1732868892.124119921] [moveit_kinematics_base.kinematics_base]: Using position only ik +[rviz2-1] [INFO] [1732868892.340975665] [rviz2]: Stereo is NOT SUPPORTED +[rviz2-1] [INFO] [1732868892.341211952] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) +[rviz2-1] [INFO] [1732868892.360708219] [rviz2]: Stereo is NOT SUPPORTED +[move_group-2] [INFO] [1732868892.365328140] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' +[move_group-2] [INFO] [1732868892.365466603] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states +[move_group-2] [INFO] [1732868892.365915390] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' +[move_group-2] [INFO] [1732868892.366113375] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects +[move_group-2] [INFO] [1732868892.366124664] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor +[move_group-2] [INFO] [1732868892.366240628] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' +[move_group-2] [INFO] [1732868892.366248218] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. +[move_group-2] [INFO] [1732868892.366379382] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' +[move_group-2] [INFO] [1732868892.366515892] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry +[move_group-2] [WARN] [1732868892.366901130] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead +[move_group-2] [ERROR] [1732868892.366910881] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates +[move_group-2] [INFO] [1732868892.499850613] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' +[move_group-2] [INFO] [1732868892.507455943] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' +[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. +[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp +[move_group-2] [INFO] [1732868892.509438401] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 +[move_group-2] [INFO] [1732868892.509453409] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 +[move_group-2] [INFO] [1732868892.509456509] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 +[move_group-2] [INFO] [1732868892.509465205] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 +[move_group-2] [INFO] [1732868892.509475665] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 +[move_group-2] [INFO] [1732868892.509478239] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 +[move_group-2] [INFO] [1732868892.509485286] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 +[move_group-2] [INFO] [1732868892.509489253] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 +[move_group-2] [INFO] [1732868892.509492194] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 +[move_group-2] [INFO] [1732868892.509499197] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' +[move_group-2] [INFO] [1732868892.509501614] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' +[move_group-2] [INFO] [1732868892.509503570] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' +[move_group-2] [INFO] [1732868892.509524030] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' +[move_group-2] [INFO] [1732868892.509526078] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' +[move_group-2] [INFO] [1732868892.537435366] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller +[move_group-2] [INFO] [1732868892.537485376] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0 +[move_group-2] [INFO] [1732868892.538656730] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for gripper_controller +[move_group-2] [INFO] [1732868892.538765617] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list +[move_group-2] [INFO] [1732868892.538779236] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list +[move_group-2] [INFO] [1732868892.538962577] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers +[move_group-2] [INFO] [1732868892.538972871] [move_group.move_group]: MoveGroup debug mode is ON +[move_group-2] [INFO] [1732868892.551168187] [move_group.move_group]: +[move_group-2] +[move_group-2] ******************************************************** +[move_group-2] * MoveGroup using: +[move_group-2] * - ApplyPlanningSceneService +[move_group-2] * - ClearOctomapService +[move_group-2] * - CartesianPathService +[move_group-2] * - ExecuteTrajectoryAction +[move_group-2] * - GetPlanningSceneService +[move_group-2] * - KinematicsService +[move_group-2] * - MoveAction +[move_group-2] * - MotionPlanService +[move_group-2] * - QueryPlannersService +[move_group-2] * - StateValidationService +[move_group-2] ******************************************************** +[move_group-2] +[move_group-2] [INFO] [1732868892.551227324] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner +[move_group-2] [INFO] [1732868892.551236259] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete +[move_group-2] Loading 'move_group/ApplyPlanningSceneService'... +[move_group-2] Loading 'move_group/ClearOctomapService'... +[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'... +[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... +[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'... +[move_group-2] Loading 'move_group/MoveGroupKinematicsService'... +[move_group-2] Loading 'move_group/MoveGroupMoveAction'... +[move_group-2] Loading 'move_group/MoveGroupPlanService'... +[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'... +[move_group-2] Loading 'move_group/MoveGroupStateValidationService'... +[move_group-2] +[move_group-2] You can start planning now! +[move_group-2] +[rviz2-1] [ERROR] [1732868895.530799244] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available +[rviz2-1] [INFO] [1732868895.568490164] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. +[rviz2-1] [INFO] [1732868895.621169604] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00698233 seconds +[rviz2-1] [INFO] [1732868895.621219448] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... +[rviz2-1] [WARN] [1732868895.725265369] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. +[rviz2-1] [INFO] [1732868895.991052343] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor +[rviz2-1] [INFO] [1732868895.991657971] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' +[rviz2-1] [INFO] [1732868896.113884156] [interactive_marker_display_94048109057936]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic +[rviz2-1] [INFO] [1732868896.121726559] [moveit_ros_visualization.motion_planning_frame]: group arm +[rviz2-1] [INFO] [1732868896.121747021] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace '' +[rviz2-1] [INFO] [1732868896.136189756] [move_group_interface]: Ready to take commands for planning group arm. +[rviz2-1] [INFO] [1732868896.137926927] [interactive_marker_display_94048109057936]: Sending request for interactive markers +[rviz2-1] [INFO] [1732868896.138014560] [moveit_ros_visualization.motion_planning_frame]: group arm +[rviz2-1] [INFO] [1732868896.171382689] [interactive_marker_display_94048109057936]: Service response received for initialization + + +``` diff --git a/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md b/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md new file mode 100644 index 000000000..165eefa29 --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md @@ -0,0 +1,28 @@ +In order to control the simulated OpenMANIPULATOR-X, launch the [OpenManipulator control GUI](/docs/en/platform/openmanipulator_x/ros_operation/#gui-program) or [Keyboard teleoperation](/docs/en/platform/openmanipulator_x/ros_operation/#keyboard) + +- GUI Program + ```bash + $ ros2 launch open_manipulator_x_gui open_manipulator_x_gui.launch.py + ``` + ![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI.png) + +- Keyboard Teleoperation + ```bash + $ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop + ``` + + ``` + [INFO] [1732869286.738207239] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER + [INFO] [1732869286.738351481] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER + [INFO] [1732869286.738367129] [servo_keyboard_input]: call 'moveit_servo' start srv. + [INFO] [1732869286.738923809] [servo_keyboard_input]: SUCCESS to start 'moveit_servo' + Reading from keyboard + --------------------------- + Joint Control Keys: + 1/q: Joint1 +/- + 2/w: Joint2 +/- + 3/e: Joint3 +/- + 4/r: Joint4 +/- + Use o|p to open/close the gripper. + 'ESC' to quit. + ``` \ No newline at end of file diff --git a/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md new file mode 100644 index 000000000..01d59de7d --- /dev/null +++ b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md @@ -0,0 +1,9 @@ + +1. Close all terminals, then open new terminals and enter the commands below to load OpenManipulator-X on the Gazebo simulator. +``` bash +$ ros2 launch open_manipulator_x_bringup gazebo.launch.py +$ ros2 launch open_manipulator_x_moveit_config moveit_servo.launch.py +``` + +2. The red cube indicates the end-effector link. + ![](/assets/images/platform/openmanipulator_x/OpenManipulator_Chain_gazebo_1.png) diff --git a/docs/en/platform/openmanipulator_x/ros_simulation.md b/docs/en/platform/openmanipulator_x/ros_simulation.md index c02c0ea7d..fec927846 100644 --- a/docs/en/platform/openmanipulator_x/ros_simulation.md +++ b/docs/en/platform/openmanipulator_x/ros_simulation.md @@ -55,10 +55,10 @@ Coming Soon (2021 4Q) {: .notice--success}
-
+
Not supported with Arduino @@ -75,6 +75,10 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/launch_gazebo_noetic.md %}
+
+{% include en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md %} +
+
Not supported with Arduino {: .notice--warning} @@ -90,6 +94,10 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/gazebo_controller_noetic.md %}
+
+{% include en/platform/openmanipulator_x/simulation/gazebo_controller_humble.md %} +
+
Not supported with Arduino {: .notice--warning} @@ -105,6 +113,10 @@ Not supported with Arduino {% include en/platform/openmanipulator_x/simulation/gazebo_operation_noetic.md %}
+
+{% include en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md %} +
+
Not supported with Arduino {: .notice--warning} From 15ebd39be225a4b7ad8c5a45d8abe8c88a59ef0c Mon Sep 17 00:00:00 2001 From: yunwonho Date: Mon, 2 Dec 2024 12:09:43 +0900 Subject: [PATCH 10/18] Added opencr option at launch's param port_name --- .../controller/launch_controller_humble.md | 14 ++++++++------ .../quick_start_guide/launch_controller_humble.md | 9 +++++---- 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md index e1683c459..47b04e778 100644 --- a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md @@ -1,4 +1,4 @@ -Open a new terminal and launch the open_manipulator_controller package. +Open a new terminal and launch the open_manipulator_x packages. - When operating with `U2D2` Close all terminal and enter the command below in each new terminal. @@ -7,10 +7,12 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py $ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` - +$ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0 +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` {% capture warning_01 %} **WARNING** : @@ -174,7 +176,7 @@ $ ros2 launch open_manipulator_x_moveit_config servo.launch.py {% endcapture %}
{{ notice_01 | markdownify }}
- +
{{ notice_02 | markdownify}}
diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md index 37638a0c7..4772002af 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md @@ -5,14 +5,15 @@ After running this section, software controller that controls the OpenMANIPULAOT Close all terminal and enter the command below in each new terminal. ```bash $ ros2 launch open_manipulator_x_bringup hardware.launch.py -$ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` - +$ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0 +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` {% capture warning_01 %} **WARNING** : From 232b9f3a740fd3511277f57d004c5579d972465b Mon Sep 17 00:00:00 2001 From: yunwonho Date: Mon, 2 Dec 2024 12:11:03 +0900 Subject: [PATCH 11/18] Modified details --- .../operation/gui_program_humble.md | 2 +- .../quickstart_comm_interface_humble.md | 4 ++-- .../quickstart_humble_ros_packages.md | 3 ++- .../simulation/launch_gazebo_humble.md | 2 +- assets/images/content_select_button.png | Bin 4995 -> 6955 bytes .../openmanipulator_x/ros_applications.md | 8 ++++---- 6 files changed, 10 insertions(+), 9 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md index 2907282d0..e0b253d27 100644 --- a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md +++ b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md @@ -5,7 +5,7 @@ {% endcapture %}
{{ notice_01 | markdownify }}
-1. Before Launch the GUI program, the [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) must be running on another terminal. Plus launch moveit_core using this command in the new terminal. +1. Before Launch the GUI program, the [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) must be running on another terminal. Plus, launch moveit_core using this command in the new terminal. ```bash $ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py ``` diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md index d943bce8d..9b63a0dda 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md @@ -19,11 +19,11 @@ In Linux(Ubuntu platform) environment, USB latency time is set to 16ms by defaul Open a terminal window and enter the following command to set usb latency time. The command below will set the USB latency to **1 ms**. -**TIP**: You can open a new terminal window by pressing `ALT` + `CTRL` + `T`. +**TIP**: You can open a new terminal window by pressing `CTRL` + `ALT` + `T`. {: .notice} ``` bash -$ ros2 run open_manipulator_x_controller create_udev_rules +$ ros2 run open_manipulator_x_bringup create_udev_rules ``` {% capture notice_01 %} diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md index dc0579380..9d083cbfe 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -3,11 +3,12 @@ Install dependent packages for OpenMANIPULATOR-X. Run the following commands in ```bash -$ sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit +$ sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit* ros-humble-hardware-interface ros-humble-xacro ros-humble-position-controllers ros-humble-joint-state-broadcaster ros-humble-joint-trajectory-controller ros-humble-controller-manager ros-humble-warehouse-* ros-humble-gazebo-ros2-control ``` ```bash $ cd ~/colcon_ws/src/ $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/open_manipulator.git +# $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git $ cd ~/colcon_ws && colcon build --symlink-install ``` diff --git a/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md index 01d59de7d..224ef0299 100644 --- a/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md +++ b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md @@ -2,7 +2,7 @@ 1. Close all terminals, then open new terminals and enter the commands below to load OpenManipulator-X on the Gazebo simulator. ``` bash $ ros2 launch open_manipulator_x_bringup gazebo.launch.py -$ ros2 launch open_manipulator_x_moveit_config moveit_servo.launch.py +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` 2. 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zb!#*4m~6NnQU&pv;|GmA#j9n7jt`651AYU7%~Zj!?P*k&-QV5qPp*d3w3UBIV@v^W z|2Xn{vqkZm#TY2Zur&z*cd2W9WsX`LrTm%Ba zy?4E6V-6>cIYNr1NOc@3*9jd098ne%2m}Iwa4rIYKp+s#MIaCe1j4xp1OkCTAe@Up zAP@*1SLYHM8j96w6>8igy}iB2WZ!v2x4OF8yA+}0%INsP2OkI>@6zOQx%Y=Z z{GoT(u3g@ajt*gqtJtTbV>Sql?y<#eh+WWejd$tu4g>;$Kp=QX{twAcesX{sCfWc1 N002ovPDHLkV1mq$uVVlJ diff --git a/docs/en/platform/openmanipulator_x/ros_applications.md b/docs/en/platform/openmanipulator_x/ros_applications.md index 8d8273eb6..65f67eaec 100644 --- a/docs/en/platform/openmanipulator_x/ros_applications.md +++ b/docs/en/platform/openmanipulator_x/ros_applications.md @@ -47,13 +47,13 @@ In this example, if the user is holding the master OpenMANIPULATOR, the slave Op
-Coming Soon (2021 4Q) -{: .notice--success} +Not supported +{: .notice--warning}
-Coming Soon (2021 4Q) -{: .notice--success} +Not supported +{: .notice--warning}
From 53be7bb17d5c82e14b05586ffa12fd174d3a5265 Mon Sep 17 00:00:00 2001 From: yunwonho Date: Wed, 4 Dec 2024 10:37:58 +0900 Subject: [PATCH 12/18] Modified quickstart's ros_packages install list --- .../quickstart_humble_ros_packages.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md index 9d083cbfe..844dd40ef 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -3,7 +3,20 @@ Install dependent packages for OpenMANIPULATOR-X. Run the following commands in ```bash -$ sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit* ros-humble-hardware-interface ros-humble-xacro ros-humble-position-controllers ros-humble-joint-state-broadcaster ros-humble-joint-trajectory-controller ros-humble-controller-manager ros-humble-warehouse-* ros-humble-gazebo-ros2-control +$ sudo apt install \ + ros-humble-dynamixel-sdk \ + ros-humble-ros2-control \ + ros-humble-moveit* \ + ros-humble-gazebo-ros2-control \ + ros-humble-ros2-controllers \ + ros-humble-controller-manager \ + ros-humble-position-controllers \ + ros-humble-joint-state-broadcaster \ + ros-humble-joint-trajectory-controller \ + ros-humble-gripper-controllers \ + ros-humble-hardware-interface \ + ros-humble-xacro \ + ros-humble-warehouse-ros-mongo ``` ```bash From e48bd5e486dec5fb9dbfc3918459b2e7e939fe11 Mon Sep 17 00:00:00 2001 From: wonhoyun Date: Wed, 4 Dec 2024 16:12:07 +0900 Subject: [PATCH 13/18] Added 'Set ROS environment --- .../quickstart_comm_interface_humble.md | 1 - .../quickstart_humble_ros_packages.md | 13 +++++++++++-- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md index 9b63a0dda..6ec6bf960 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_comm_interface_humble.md @@ -44,7 +44,6 @@ $ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer This section describes how to set up OpenCR as a communication board between **ROS Packages** of PC and DYNAMIXEL's of OpenMANIPULATOR-X. -If you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, see [OpenCR Setup](/docs/en/platform/openmanipulator_x/opencr_setup/#opencr-setup). #### Connection diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md index 844dd40ef..308cd4d41 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -15,13 +15,22 @@ $ sudo apt install \ ros-humble-joint-trajectory-controller \ ros-humble-gripper-controllers \ ros-humble-hardware-interface \ - ros-humble-xacro \ - ros-humble-warehouse-ros-mongo + ros-humble-xacro ``` ```bash +$ mkdir -p colcon_ws/src $ cd ~/colcon_ws/src/ $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/open_manipulator.git # $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git $ cd ~/colcon_ws && colcon build --symlink-install ``` + +Set the ROS environment for PC + +```bash +$ echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc +$ echo 'source /usr/share/gazebo-11/setup.sh' >> ~/.bashrc +$ echo 'source ~/colcon_ws/install/local_setup.bash' >> ~/.bashrc +$ source ~/.bashrc +``` From 739708692da43d456122b5a060f8a46d113aac32 Mon Sep 17 00:00:00 2001 From: wonho yun Date: Mon, 9 Dec 2024 17:57:21 +0900 Subject: [PATCH 14/18] Modified launch_controller_humble --- .../controller/launch_controller_humble.md | 152 ++++++++++-------- .../launch_controller_humble.md | 152 ++++++++++-------- 2 files changed, 168 insertions(+), 136 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md index 47b04e778..6f661f8c8 100644 --- a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md @@ -30,14 +30,14 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py ``` ``` -[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-39-21-377604-omx-21792 +[INFO] [launch]: All log files can be found below /home/ywh/.ros/log/2024-12-09-11-33-18-224883-ywh-16104 [INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [ros2_control_node-1]: process started with pid [21795] -[INFO] [robot_state_publisher-2]: process started with pid [21797] -[INFO] [spawner-3]: process started with pid [21799] -[ros2_control_node-1] [WARN] [1732775961.647409323] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. -[ros2_control_node-1] [INFO] [1732775961.647732674] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.650387218] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[INFO] [ros2_control_node-1]: process started with pid [16107] +[INFO] [robot_state_publisher-2]: process started with pid [16109] +[INFO] [spawner-3]: process started with pid [16111] +[ros2_control_node-1] [WARN] [1733711598.457304019] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1733711598.457565433] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.462483911] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' [ros2_control_node-1] transmission_to_joint_matrix_ [ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, @@ -50,7 +50,7 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, -[ros2_control_node-1] [INFO] [1732775961.650702017] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] [INFO] [1733711598.463187008] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 [ros2_control_node-1] Dynamixel Information File List. [ros2_control_node-1] num: 1000, name: xh430_w350.model [ros2_control_node-1] num: 1020, name: xm430_w350.model @@ -61,92 +61,108 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] num: 4000, name: ym070_210_m001.model [ros2_control_node-1] num: 4020, name: ym070_210_r051.model [ros2_control_node-1] num: 4030, name: ym070_210_r099.model +[ros2_control_node-1] num: 4050, name: ym070_210_a099.model [ros2_control_node-1] num: 4120, name: ym080_230_m001.model [ros2_control_node-1] num: 4140, name: ym080_230_r051.model [ros2_control_node-1] num: 4150, name: ym080_230_r099.model +[ros2_control_node-1] num: 4170, name: ym080_230_a099.model [ros2_control_node-1] num: 35074, name: rh_p12_rn.model -[ros2_control_node-1] [INFO] [1732775961.650972390] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -[ros2_control_node-1] [INFO] [1732775961.650978848] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733711598.463668210] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1733711598.463694800] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733711598.463732680] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. +[robot_state_publisher-2] [INFO] [1733711598.463747550] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1733711598.463812395] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1733711598.463817218] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1733711598.463819786] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1733711598.463822153] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1733711598.463824721] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1733711598.463826977] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1733711598.463829393] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1733711598.463831850] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1733711598.463834063] [robot_state_publisher]: got segment world [ros2_control_node-1] Succeeded to open the port! [ros2_control_node-1] Succeeded to change the [1000000] baudrate! [ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 -[robot_state_publisher-2] [INFO] [1732775961.654714921] [robot_state_publisher]: got segment dummy_mimic_fix -[robot_state_publisher-2] [INFO] [1732775961.654781535] [robot_state_publisher]: got segment end_effector_link -[robot_state_publisher-2] [INFO] [1732775961.654786706] [robot_state_publisher]: got segment gripper_left_link -[robot_state_publisher-2] [INFO] [1732775961.654789648] [robot_state_publisher]: got segment gripper_right_link -[robot_state_publisher-2] [INFO] [1732775961.654792365] [robot_state_publisher]: got segment link1 -[robot_state_publisher-2] [INFO] [1732775961.654794901] [robot_state_publisher]: got segment link2 -[robot_state_publisher-2] [INFO] [1732775961.654797487] [robot_state_publisher]: got segment link3 -[robot_state_publisher-2] [INFO] [1732775961.654799877] [robot_state_publisher]: got segment link4 -[robot_state_publisher-2] [INFO] [1732775961.654802152] [robot_state_publisher]: got segment link5 -[robot_state_publisher-2] [INFO] [1732775961.654804416] [robot_state_publisher]: got segment world [ros2_control_node-1] [ID:012] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 -[ros2_control_node-1] [INFO] [1732775961.663020717] [dynamixel_hardware_interface]: Trying to connect to the communication port... -[ros2_control_node-1] [INFO] [1732775961.663086277] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items -[ros2_control_node-1] [INFO] [1732775961.665305846] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.667285868] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.669291131] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.671288654] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.671336766] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] [INFO] [1733711598.470241202] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1733711598.470292254] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1733711598.470952420] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.471939801] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.472939635] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.473941354] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.474942137] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.475940249] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.476938289] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.477939038] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.478938967] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.479947832] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.480938425] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.481938723] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.482939624] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.483962690] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.485027389] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.486033066] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.486063329] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items [ros2_control_node-1] Dynamixel Read Type : sync read [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage [ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 [ros2_control_node-1] Success to set SyncRead handler using indirect address -[ros2_control_node-1] [INFO] [1732775961.802404044] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] [INFO] [1733711598.552017035] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items [ros2_control_node-1] Dynamixel Write Type : sync write [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Write items : Goal Position [ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 [ros2_control_node-1] Success to set SyncWrite handler using indirect address -[ros2_control_node-1] [INFO] [1732775961.848599813] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848643868] [dynamixel_hardware_interface]: ros_update rate is 200hz -[ros2_control_node-1] [INFO] [1732775961.848933885] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848950710] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848969965] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' -[spawner-3] [INFO] [1732775961.853098097] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... -[ros2_control_node-1] [INFO] [1732775961.855413362] [dynamixel_hardware_interface]: Sync joint state to command (position, 2.19834 <- position, 2.19834 -[ros2_control_node-1] [INFO] [1732775961.855483775] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.95701 <- position, 3.95701 -[ros2_control_node-1] [INFO] [1732775961.855512837] [dynamixel_hardware_interface]: Sync joint state to command (position, 16.0039 <- position, 16.0039 -[ros2_control_node-1] [INFO] [1732775961.855537887] [dynamixel_hardware_interface]: Sync joint state to command (position, 66.4778 <- position, 66.4778 -[ros2_control_node-1] [INFO] [1732775961.855562669] [dynamixel_hardware_interface]: Sync joint state to command (position, 50.7377 <- position, 50.7377 +[ros2_control_node-1] [INFO] [1733711598.574956579] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575128253] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575134826] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575142616] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.577106853] [dynamixel_hardware_interface]: Sync joint state to command (position, -1.49414 <- position, -1.49414 +[ros2_control_node-1] [INFO] [1733711598.577141023] [dynamixel_hardware_interface]: Sync joint state to command (position, -2.46094 <- position, -2.46094 +[ros2_control_node-1] [INFO] [1733711598.577154462] [dynamixel_hardware_interface]: Sync joint state to command (position, 29.8974 <- position, 29.8974 +[ros2_control_node-1] [INFO] [1733711598.577165628] [dynamixel_hardware_interface]: Sync joint state to command (position, 49.7704 <- position, 49.7704 +[ros2_control_node-1] [INFO] [1733711598.577177199] [dynamixel_hardware_interface]: Sync joint state to command (position, -0.529634 <- position, -0.529634 +[spawner-3] [INFO] [1733711598.652066060] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [ros2_control_node-1] [ID:011] Torque ON [ros2_control_node-1] [ID:012] Torque ON [ros2_control_node-1] [ID:013] Torque ON [ros2_control_node-1] [ID:014] Torque ON [ros2_control_node-1] [ID:015] Torque ON -[ros2_control_node-1] [INFO] [1732775962.365291262] [dynamixel_hardware_interface]: Dynamixel Hardware Start! -[ros2_control_node-1] [INFO] [1732775962.365471552] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775962.372136019] [controller_manager]: update rate is 1000 Hz -[ros2_control_node-1] [WARN] [1732775962.372436132] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. -[ros2_control_node-1] [INFO] [1732775962.608221107] [controller_manager]: Loading controller 'joint_state_broadcaster' -[spawner-3] [INFO] [1732775962.619721516] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster -[ros2_control_node-1] [INFO] [1732775962.620824998] [controller_manager]: Configuring controller 'joint_state_broadcaster' -[ros2_control_node-1] [INFO] [1732775962.620980973] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published -[spawner-3] [INFO] [1732775962.641741456] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster -[INFO] [spawner-3]: process has finished cleanly [pid 21799] -[INFO] [spawner-4]: process started with pid [21844] -[INFO] [spawner-5]: process started with pid [21846] -[ros2_control_node-1] [INFO] [1732775962.982777514] [controller_manager]: Loading controller 'arm_controller' -[ros2_control_node-1] [WARN] [1732775962.991831509] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. -[ros2_control_node-1] [INFO] [1732775962.998816098] [controller_manager]: Loading controller 'gripper_controller' -[spawner-5] [INFO] [1732775963.006563977] [spawner_arm_controller]: Loaded arm_controller -[ros2_control_node-1] [INFO] [1732775963.007177493] [controller_manager]: Configuring controller 'arm_controller' -[ros2_control_node-1] [INFO] [1732775963.007319562] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. -[ros2_control_node-1] [INFO] [1732775963.007338708] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. -[ros2_control_node-1] [INFO] [1732775963.007385182] [arm_controller]: Using 'splines' interpolation method. -[ros2_control_node-1] [INFO] [1732775963.007861186] [arm_controller]: Controller state will be published at 200.00 Hz. -[ros2_control_node-1] [INFO] [1732775963.008528831] [arm_controller]: Action status changes will be monitored at 20.00 Hz. -[spawner-4] [INFO] [1732775963.018263910] [spawner_gripper_controller]: Loaded gripper_controller -[ros2_control_node-1] [INFO] [1732775963.026574485] [controller_manager]: Configuring controller 'gripper_controller' -[ros2_control_node-1] [INFO] [1732775963.026671830] [gripper_controller]: Action status changes will be monitored at 20Hz. -[spawner-5] [INFO] [1732775963.027360522] [spawner_arm_controller]: Configured and activated arm_controller -[spawner-4] [INFO] [1732775963.130766130] [spawner_gripper_controller]: Configured and activated gripper_controller -[INFO] [spawner-5]: process has finished cleanly [pid 21846] -[INFO] [spawner-4]: process has finished cleanly [pid 21844] +[ros2_control_node-1] [INFO] [1733711599.082041586] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1733711599.082172157] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711599.115015405] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [INFO] [1733711599.115085191] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 +[ros2_control_node-1] [WARN] [1733711599.118452808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1733711599.154601691] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1733711599.167491768] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1733711599.168488732] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1733711599.168600215] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1733711599.188476880] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 16111] +[INFO] [spawner-4]: process started with pid [16155] +[INFO] [spawner-5]: process started with pid [16157] +[ros2_control_node-1] [INFO] [1733711599.875463479] [controller_manager]: Loading controller 'gripper_controller' +[spawner-4] [INFO] [1733711599.897671912] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1733711599.898245233] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1733711599.898323976] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-4] [INFO] [1733711599.908776934] [spawner_gripper_controller]: Configured and activated gripper_controller +[spawner-5] [INFO] [1733711599.914028628] [spawner_arm_controller]: waiting for service /controller_manager/list_controllers to become available... +[INFO] [spawner-4]: process has finished cleanly [pid 16155] +[ros2_control_node-1] [INFO] [1733711600.168048540] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1733711600.182951964] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[spawner-5] [INFO] [1733711600.184988166] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1733711600.185546460] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1733711600.185644623] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1733711600.185656873] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1733711600.185669695] [arm_controller]: Using 'splines' interpolation method. +[ros2_control_node-1] [INFO] [1733711600.186139661] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1733711600.190808128] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[spawner-5] [INFO] [1733711600.200183049] [spawner_arm_controller]: Configured and activated arm_controller +[INFO] [spawner-5]: process has finished cleanly [pid 16157] ``` ```bash diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md index 4772002af..def6ddf44 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md @@ -30,14 +30,14 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py ``` ``` -[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-39-21-377604-omx-21792 +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-09-11-33-18-224883-omx-16104 [INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [ros2_control_node-1]: process started with pid [21795] -[INFO] [robot_state_publisher-2]: process started with pid [21797] -[INFO] [spawner-3]: process started with pid [21799] -[ros2_control_node-1] [WARN] [1732775961.647409323] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. -[ros2_control_node-1] [INFO] [1732775961.647732674] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.650387218] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[INFO] [ros2_control_node-1]: process started with pid [16107] +[INFO] [robot_state_publisher-2]: process started with pid [16109] +[INFO] [spawner-3]: process started with pid [16111] +[ros2_control_node-1] [WARN] [1733711598.457304019] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1733711598.457565433] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.462483911] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' [ros2_control_node-1] transmission_to_joint_matrix_ [ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, @@ -50,7 +50,7 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, -[ros2_control_node-1] [INFO] [1732775961.650702017] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] [INFO] [1733711598.463187008] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 [ros2_control_node-1] Dynamixel Information File List. [ros2_control_node-1] num: 1000, name: xh430_w350.model [ros2_control_node-1] num: 1020, name: xm430_w350.model @@ -61,92 +61,108 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] num: 4000, name: ym070_210_m001.model [ros2_control_node-1] num: 4020, name: ym070_210_r051.model [ros2_control_node-1] num: 4030, name: ym070_210_r099.model +[ros2_control_node-1] num: 4050, name: ym070_210_a099.model [ros2_control_node-1] num: 4120, name: ym080_230_m001.model [ros2_control_node-1] num: 4140, name: ym080_230_r051.model [ros2_control_node-1] num: 4150, name: ym080_230_r099.model +[ros2_control_node-1] num: 4170, name: ym080_230_a099.model [ros2_control_node-1] num: 35074, name: rh_p12_rn.model -[ros2_control_node-1] [INFO] [1732775961.650972390] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -[ros2_control_node-1] [INFO] [1732775961.650978848] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733711598.463668210] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1733711598.463694800] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733711598.463732680] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. +[robot_state_publisher-2] [INFO] [1733711598.463747550] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1733711598.463812395] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1733711598.463817218] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1733711598.463819786] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1733711598.463822153] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1733711598.463824721] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1733711598.463826977] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1733711598.463829393] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1733711598.463831850] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1733711598.463834063] [robot_state_publisher]: got segment world [ros2_control_node-1] Succeeded to open the port! [ros2_control_node-1] Succeeded to change the [1000000] baudrate! [ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 -[robot_state_publisher-2] [INFO] [1732775961.654714921] [robot_state_publisher]: got segment dummy_mimic_fix -[robot_state_publisher-2] [INFO] [1732775961.654781535] [robot_state_publisher]: got segment end_effector_link -[robot_state_publisher-2] [INFO] [1732775961.654786706] [robot_state_publisher]: got segment gripper_left_link -[robot_state_publisher-2] [INFO] [1732775961.654789648] [robot_state_publisher]: got segment gripper_right_link -[robot_state_publisher-2] [INFO] [1732775961.654792365] [robot_state_publisher]: got segment link1 -[robot_state_publisher-2] [INFO] [1732775961.654794901] [robot_state_publisher]: got segment link2 -[robot_state_publisher-2] [INFO] [1732775961.654797487] [robot_state_publisher]: got segment link3 -[robot_state_publisher-2] [INFO] [1732775961.654799877] [robot_state_publisher]: got segment link4 -[robot_state_publisher-2] [INFO] [1732775961.654802152] [robot_state_publisher]: got segment link5 -[robot_state_publisher-2] [INFO] [1732775961.654804416] [robot_state_publisher]: got segment world [ros2_control_node-1] [ID:012] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 -[ros2_control_node-1] [INFO] [1732775961.663020717] [dynamixel_hardware_interface]: Trying to connect to the communication port... -[ros2_control_node-1] [INFO] [1732775961.663086277] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items -[ros2_control_node-1] [INFO] [1732775961.665305846] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.667285868] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.669291131] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.671288654] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1732775961.671336766] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] [INFO] [1733711598.470241202] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1733711598.470292254] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1733711598.470952420] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.471939801] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.472939635] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.473941354] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.474942137] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.475940249] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.476938289] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.477939038] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.478938967] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.479947832] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.480938425] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.481938723] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.482939624] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733711598.483962690] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.485027389] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733711598.486033066] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733711598.486063329] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items [ros2_control_node-1] Dynamixel Read Type : sync read [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage [ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 [ros2_control_node-1] Success to set SyncRead handler using indirect address -[ros2_control_node-1] [INFO] [1732775961.802404044] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] [INFO] [1733711598.552017035] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items [ros2_control_node-1] Dynamixel Write Type : sync write [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Write items : Goal Position [ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 [ros2_control_node-1] Success to set SyncWrite handler using indirect address -[ros2_control_node-1] [INFO] [1732775961.848599813] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848643868] [dynamixel_hardware_interface]: ros_update rate is 200hz -[ros2_control_node-1] [INFO] [1732775961.848933885] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848950710] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775961.848969965] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' -[spawner-3] [INFO] [1732775961.853098097] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... -[ros2_control_node-1] [INFO] [1732775961.855413362] [dynamixel_hardware_interface]: Sync joint state to command (position, 2.19834 <- position, 2.19834 -[ros2_control_node-1] [INFO] [1732775961.855483775] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.95701 <- position, 3.95701 -[ros2_control_node-1] [INFO] [1732775961.855512837] [dynamixel_hardware_interface]: Sync joint state to command (position, 16.0039 <- position, 16.0039 -[ros2_control_node-1] [INFO] [1732775961.855537887] [dynamixel_hardware_interface]: Sync joint state to command (position, 66.4778 <- position, 66.4778 -[ros2_control_node-1] [INFO] [1732775961.855562669] [dynamixel_hardware_interface]: Sync joint state to command (position, 50.7377 <- position, 50.7377 +[ros2_control_node-1] [INFO] [1733711598.574956579] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575128253] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575134826] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.575142616] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711598.577106853] [dynamixel_hardware_interface]: Sync joint state to command (position, -1.49414 <- position, -1.49414 +[ros2_control_node-1] [INFO] [1733711598.577141023] [dynamixel_hardware_interface]: Sync joint state to command (position, -2.46094 <- position, -2.46094 +[ros2_control_node-1] [INFO] [1733711598.577154462] [dynamixel_hardware_interface]: Sync joint state to command (position, 29.8974 <- position, 29.8974 +[ros2_control_node-1] [INFO] [1733711598.577165628] [dynamixel_hardware_interface]: Sync joint state to command (position, 49.7704 <- position, 49.7704 +[ros2_control_node-1] [INFO] [1733711598.577177199] [dynamixel_hardware_interface]: Sync joint state to command (position, -0.529634 <- position, -0.529634 +[spawner-3] [INFO] [1733711598.652066060] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [ros2_control_node-1] [ID:011] Torque ON [ros2_control_node-1] [ID:012] Torque ON [ros2_control_node-1] [ID:013] Torque ON [ros2_control_node-1] [ID:014] Torque ON [ros2_control_node-1] [ID:015] Torque ON -[ros2_control_node-1] [INFO] [1732775962.365291262] [dynamixel_hardware_interface]: Dynamixel Hardware Start! -[ros2_control_node-1] [INFO] [1732775962.365471552] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1732775962.372136019] [controller_manager]: update rate is 1000 Hz -[ros2_control_node-1] [WARN] [1732775962.372436132] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. -[ros2_control_node-1] [INFO] [1732775962.608221107] [controller_manager]: Loading controller 'joint_state_broadcaster' -[spawner-3] [INFO] [1732775962.619721516] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster -[ros2_control_node-1] [INFO] [1732775962.620824998] [controller_manager]: Configuring controller 'joint_state_broadcaster' -[ros2_control_node-1] [INFO] [1732775962.620980973] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published -[spawner-3] [INFO] [1732775962.641741456] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster -[INFO] [spawner-3]: process has finished cleanly [pid 21799] -[INFO] [spawner-4]: process started with pid [21844] -[INFO] [spawner-5]: process started with pid [21846] -[ros2_control_node-1] [INFO] [1732775962.982777514] [controller_manager]: Loading controller 'arm_controller' -[ros2_control_node-1] [WARN] [1732775962.991831509] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. -[ros2_control_node-1] [INFO] [1732775962.998816098] [controller_manager]: Loading controller 'gripper_controller' -[spawner-5] [INFO] [1732775963.006563977] [spawner_arm_controller]: Loaded arm_controller -[ros2_control_node-1] [INFO] [1732775963.007177493] [controller_manager]: Configuring controller 'arm_controller' -[ros2_control_node-1] [INFO] [1732775963.007319562] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. -[ros2_control_node-1] [INFO] [1732775963.007338708] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. -[ros2_control_node-1] [INFO] [1732775963.007385182] [arm_controller]: Using 'splines' interpolation method. -[ros2_control_node-1] [INFO] [1732775963.007861186] [arm_controller]: Controller state will be published at 200.00 Hz. -[ros2_control_node-1] [INFO] [1732775963.008528831] [arm_controller]: Action status changes will be monitored at 20.00 Hz. -[spawner-4] [INFO] [1732775963.018263910] [spawner_gripper_controller]: Loaded gripper_controller -[ros2_control_node-1] [INFO] [1732775963.026574485] [controller_manager]: Configuring controller 'gripper_controller' -[ros2_control_node-1] [INFO] [1732775963.026671830] [gripper_controller]: Action status changes will be monitored at 20Hz. -[spawner-5] [INFO] [1732775963.027360522] [spawner_arm_controller]: Configured and activated arm_controller -[spawner-4] [INFO] [1732775963.130766130] [spawner_gripper_controller]: Configured and activated gripper_controller -[INFO] [spawner-5]: process has finished cleanly [pid 21846] -[INFO] [spawner-4]: process has finished cleanly [pid 21844] +[ros2_control_node-1] [INFO] [1733711599.082041586] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1733711599.082172157] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733711599.115015405] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [INFO] [1733711599.115085191] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 +[ros2_control_node-1] [WARN] [1733711599.118452808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1733711599.154601691] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1733711599.167491768] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1733711599.168488732] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1733711599.168600215] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1733711599.188476880] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 16111] +[INFO] [spawner-4]: process started with pid [16155] +[INFO] [spawner-5]: process started with pid [16157] +[ros2_control_node-1] [INFO] [1733711599.875463479] [controller_manager]: Loading controller 'gripper_controller' +[spawner-4] [INFO] [1733711599.897671912] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1733711599.898245233] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1733711599.898323976] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-4] [INFO] [1733711599.908776934] [spawner_gripper_controller]: Configured and activated gripper_controller +[spawner-5] [INFO] [1733711599.914028628] [spawner_arm_controller]: waiting for service /controller_manager/list_controllers to become available... +[INFO] [spawner-4]: process has finished cleanly [pid 16155] +[ros2_control_node-1] [INFO] [1733711600.168048540] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1733711600.182951964] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[spawner-5] [INFO] [1733711600.184988166] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1733711600.185546460] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1733711600.185644623] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1733711600.185656873] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1733711600.185669695] [arm_controller]: Using 'splines' interpolation method. +[ros2_control_node-1] [INFO] [1733711600.186139661] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1733711600.190808128] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[spawner-5] [INFO] [1733711600.200183049] [spawner_arm_controller]: Configured and activated arm_controller +[INFO] [spawner-5]: process has finished cleanly [pid 16157] ``` ```bash From e8d183a08be38c59aada77e6832c006b2f66ce42 Mon Sep 17 00:00:00 2001 From: wonho yun Date: Tue, 10 Dec 2024 16:56:49 +0900 Subject: [PATCH 15/18] Modified codes based on reviews --- .../controller/launch_controller_humble.md | 182 +++++++++--------- .../operation/gui_program_humble.md | 2 +- .../launch_controller_humble.md | 179 ++++++++--------- .../quickstart_humble_ros_packages.md | 5 +- .../OpenManipulator_x_GUI.png | Bin 64200 -> 63712 bytes .../OpenManipulator_x_GUI2.png | Bin 64315 -> 63772 bytes .../OpenManipulator_x_GUI3.png | Bin 75826 -> 75240 bytes .../OpenManipulator_x_GUI4.png | Bin 79393 -> 78580 bytes .../OpenManipulator_x_GUI5.png | Bin 92223 -> 91827 bytes .../OpenManipulator_x_GUI6.png | Bin 112834 -> 99443 bytes .../OpenManipulator_x_GUI7.png | Bin 118244 -> 105101 bytes 11 files changed, 184 insertions(+), 184 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md index 6f661f8c8..f1bc0b173 100644 --- a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md @@ -17,8 +17,7 @@ $ ros2 launch open_manipulator_x_moveit_config servo.launch.py {% capture warning_01 %} **WARNING** : Please check each joint position before running OpenMANIPULATOR-X. The manipulator will not operate if any joint is out of operable range. -The following image describes the recommended pose of OpenMANIPULATOR-X at start up. Please adjust the pose before the torque is turned on by the controller. - +The following image describes the recommended pose of OpenMANIPULATOR-X at start up. Please adjust the pose before the torque is turned on by the controller. {% endcapture %}
{{ warning_01 | markdownify }}
@@ -30,27 +29,38 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py ``` ``` -[INFO] [launch]: All log files can be found below /home/ywh/.ros/log/2024-12-09-11-33-18-224883-ywh-16104 +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-10-16-13-03-846807-omx-3063 [INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [ros2_control_node-1]: process started with pid [16107] -[INFO] [robot_state_publisher-2]: process started with pid [16109] -[INFO] [spawner-3]: process started with pid [16111] -[ros2_control_node-1] [WARN] [1733711598.457304019] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. -[ros2_control_node-1] [INFO] [1733711598.457565433] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.462483911] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[INFO] [ros2_control_node-1]: process started with pid [3066] +[INFO] [robot_state_publisher-2]: process started with pid [3068] +[INFO] [spawner-3]: process started with pid [3070] +[robot_state_publisher-2] [INFO] [1733814784.140348781] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1733814784.140441706] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1733814784.140450447] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1733814784.140455005] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1733814784.140459339] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1733814784.140463495] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1733814784.140467530] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1733814784.140471673] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1733814784.140475662] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1733814784.140479440] [robot_state_publisher]: got segment world +[ros2_control_node-1] [WARN] [1733814784.150297704] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1733814784.150762238] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.163256190] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' [ros2_control_node-1] transmission_to_joint_matrix_ [ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] [5][0] 0.000000, [5][1] 0.000000, [5][2] 0.000000, [5][3] 0.000000, [5][4] 0.000000, [ros2_control_node-1] joint_to_transmission_matrix_ -[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, -[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, -[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, -[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, -[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, -[ros2_control_node-1] [INFO] [1733711598.463187008] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [0][5] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [1][5] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [2][5] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [3][5] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, [4][5] 0.000000, +[ros2_control_node-1] [INFO] [1733814784.164000125] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 [ros2_control_node-1] Dynamixel Information File List. [ros2_control_node-1] num: 1000, name: xh430_w350.model [ros2_control_node-1] num: 1020, name: xm430_w350.model @@ -67,19 +77,9 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] num: 4150, name: ym080_230_r099.model [ros2_control_node-1] num: 4170, name: ym080_230_a099.model [ros2_control_node-1] num: 35074, name: rh_p12_rn.model -[ros2_control_node-1] [INFO] [1733711598.463668210] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -[ros2_control_node-1] [INFO] [1733711598.463694800] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port -[ros2_control_node-1] [INFO] [1733711598.463732680] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. -[robot_state_publisher-2] [INFO] [1733711598.463747550] [robot_state_publisher]: got segment dummy_mimic_fix -[robot_state_publisher-2] [INFO] [1733711598.463812395] [robot_state_publisher]: got segment end_effector_link -[robot_state_publisher-2] [INFO] [1733711598.463817218] [robot_state_publisher]: got segment gripper_left_link -[robot_state_publisher-2] [INFO] [1733711598.463819786] [robot_state_publisher]: got segment gripper_right_link -[robot_state_publisher-2] [INFO] [1733711598.463822153] [robot_state_publisher]: got segment link1 -[robot_state_publisher-2] [INFO] [1733711598.463824721] [robot_state_publisher]: got segment link2 -[robot_state_publisher-2] [INFO] [1733711598.463826977] [robot_state_publisher]: got segment link3 -[robot_state_publisher-2] [INFO] [1733711598.463829393] [robot_state_publisher]: got segment link4 -[robot_state_publisher-2] [INFO] [1733711598.463831850] [robot_state_publisher]: got segment link5 -[robot_state_publisher-2] [INFO] [1733711598.463834063] [robot_state_publisher]: got segment world +[ros2_control_node-1] [INFO] [1733814784.165060244] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1733814784.165085781] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733814784.165119953] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. [ros2_control_node-1] Succeeded to open the port! [ros2_control_node-1] Succeeded to change the [1000000] baudrate! [ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 @@ -87,86 +87,86 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 -[ros2_control_node-1] [INFO] [1733711598.470241202] [dynamixel_hardware_interface]: Trying to connect to the communication port... -[ros2_control_node-1] [INFO] [1733711598.470292254] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items -[ros2_control_node-1] [INFO] [1733711598.470952420] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.471939801] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.472939635] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.473941354] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.474942137] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.475940249] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.476938289] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.477939038] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.478938967] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.479947832] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.480938425] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.481938723] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.482939624] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.483962690] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.485027389] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.486033066] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.486063329] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] [INFO] [1733814784.172855510] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1733814784.172904554] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1733814784.174263837] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.175202777] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.176189566] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.177218657] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.178201814] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.179188157] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.180215312] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.181209639] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.182195348] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.183204690] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.184192489] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.185186500] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.186251591] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.187186969] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.188187523] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.189248186] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.189281693] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items [ros2_control_node-1] Dynamixel Read Type : sync read [ros2_control_node-1] ID : 11, 12, 13, 14, 15, -[ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage +[ros2_control_node-1] Read items : Present Position Present VelocityPresent Current Torque Enable Present Input Voltage [ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 [ros2_control_node-1] Success to set SyncRead handler using indirect address -[ros2_control_node-1] [INFO] [1733711598.552017035] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] [INFO] [1733814784.255333410] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items [ros2_control_node-1] Dynamixel Write Type : sync write [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Write items : Goal Position [ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 [ros2_control_node-1] Success to set SyncWrite handler using indirect address -[ros2_control_node-1] [INFO] [1733711598.574956579] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575128253] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575134826] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575142616] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.577106853] [dynamixel_hardware_interface]: Sync joint state to command (position, -1.49414 <- position, -1.49414 -[ros2_control_node-1] [INFO] [1733711598.577141023] [dynamixel_hardware_interface]: Sync joint state to command (position, -2.46094 <- position, -2.46094 -[ros2_control_node-1] [INFO] [1733711598.577154462] [dynamixel_hardware_interface]: Sync joint state to command (position, 29.8974 <- position, 29.8974 -[ros2_control_node-1] [INFO] [1733711598.577165628] [dynamixel_hardware_interface]: Sync joint state to command (position, 49.7704 <- position, 49.7704 -[ros2_control_node-1] [INFO] [1733711598.577177199] [dynamixel_hardware_interface]: Sync joint state to command (position, -0.529634 <- position, -0.529634 -[spawner-3] [INFO] [1733711598.652066060] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... +[ros2_control_node-1] [INFO] [1733814784.285087764] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285623329] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285649762] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285677277] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.288399302] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.25354 <- position, 3.25354 +[ros2_control_node-1] [INFO] [1733814784.288484144] [dynamixel_hardware_interface]: Sync joint state to command (position, -22.5879 <- position, -22.5879 +[ros2_control_node-1] [INFO] [1733814784.288522542] [dynamixel_hardware_interface]: Sync joint state to command (position, 48.5393 <- position, 48.5393 +[ros2_control_node-1] [INFO] [1733814784.288556311] [dynamixel_hardware_interface]: Sync joint state to command (position, 59.4431 <- position, 59.4431 +[ros2_control_node-1] [INFO] [1733814784.288587808] [dynamixel_hardware_interface]: Sync joint state to command (position, 1.08561 <- position, 1.08561 +[ros2_control_node-1] [INFO] [1733814784.288619773] [dynamixel_hardware_interface]: Sync joint state to command (position, 0 <- position, 0 +[spawner-3] [INFO] [1733814784.344387122] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [ros2_control_node-1] [ID:011] Torque ON [ros2_control_node-1] [ID:012] Torque ON [ros2_control_node-1] [ID:013] Torque ON [ros2_control_node-1] [ID:014] Torque ON [ros2_control_node-1] [ID:015] Torque ON -[ros2_control_node-1] [INFO] [1733711599.082041586] [dynamixel_hardware_interface]: Dynamixel Hardware Start! -[ros2_control_node-1] [INFO] [1733711599.082172157] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711599.115015405] [controller_manager]: update rate is 1000 Hz -[ros2_control_node-1] [INFO] [1733711599.115085191] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 -[ros2_control_node-1] [WARN] [1733711599.118452808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. -[ros2_control_node-1] [INFO] [1733711599.154601691] [controller_manager]: Loading controller 'joint_state_broadcaster' -[spawner-3] [INFO] [1733711599.167491768] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster -[ros2_control_node-1] [INFO] [1733711599.168488732] [controller_manager]: Configuring controller 'joint_state_broadcaster' -[ros2_control_node-1] [INFO] [1733711599.168600215] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published -[spawner-3] [INFO] [1733711599.188476880] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster -[INFO] [spawner-3]: process has finished cleanly [pid 16111] -[INFO] [spawner-4]: process started with pid [16155] -[INFO] [spawner-5]: process started with pid [16157] -[ros2_control_node-1] [INFO] [1733711599.875463479] [controller_manager]: Loading controller 'gripper_controller' -[spawner-4] [INFO] [1733711599.897671912] [spawner_gripper_controller]: Loaded gripper_controller -[ros2_control_node-1] [INFO] [1733711599.898245233] [controller_manager]: Configuring controller 'gripper_controller' -[ros2_control_node-1] [INFO] [1733711599.898323976] [gripper_controller]: Action status changes will be monitored at 20Hz. -[spawner-4] [INFO] [1733711599.908776934] [spawner_gripper_controller]: Configured and activated gripper_controller -[spawner-5] [INFO] [1733711599.914028628] [spawner_arm_controller]: waiting for service /controller_manager/list_controllers to become available... -[INFO] [spawner-4]: process has finished cleanly [pid 16155] -[ros2_control_node-1] [INFO] [1733711600.168048540] [controller_manager]: Loading controller 'arm_controller' -[ros2_control_node-1] [WARN] [1733711600.182951964] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. -[spawner-5] [INFO] [1733711600.184988166] [spawner_arm_controller]: Loaded arm_controller -[ros2_control_node-1] [INFO] [1733711600.185546460] [controller_manager]: Configuring controller 'arm_controller' -[ros2_control_node-1] [INFO] [1733711600.185644623] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. -[ros2_control_node-1] [INFO] [1733711600.185656873] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. -[ros2_control_node-1] [INFO] [1733711600.185669695] [arm_controller]: Using 'splines' interpolation method. -[ros2_control_node-1] [INFO] [1733711600.186139661] [arm_controller]: Controller state will be published at 200.00 Hz. -[ros2_control_node-1] [INFO] [1733711600.190808128] [arm_controller]: Action status changes will be monitored at 20.00 Hz. -[spawner-5] [INFO] [1733711600.200183049] [spawner_arm_controller]: Configured and activated arm_controller -[INFO] [spawner-5]: process has finished cleanly [pid 16157] +[ros2_control_node-1] [INFO] [1733814784.794363518] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1733814784.794583503] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.844187956] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [INFO] [1733814784.844239126] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 +[ros2_control_node-1] [WARN] [1733814784.847602761] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1733814784.864748196] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1733814784.872066996] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1733814784.872576377] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1733814784.872671446] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1733814784.890559256] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 3070] +[INFO] [spawner-4]: process started with pid [3114] +[INFO] [spawner-5]: process started with pid [3116] +[ros2_control_node-1] [INFO] [1733814785.561511632] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1733814785.574916138] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[ros2_control_node-1] [INFO] [1733814785.576633589] [controller_manager]: Loading controller 'gripper_controller' +[spawner-5] [INFO] [1733814785.598697696] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1733814785.599380288] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1733814785.599545696] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1733814785.599572347] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1733814785.599598355] [arm_controller]: Using 'splines' interpolation method. +[spawner-4] [INFO] [1733814785.600233495] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1733814785.600325312] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1733814785.605748626] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[ros2_control_node-1] [INFO] [1733814785.609463352] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1733814785.609542143] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-5] [INFO] [1733814785.619695267] [spawner_arm_controller]: Configured and activated arm_controller +[spawner-4] [INFO] [1733814785.626031382] [spawner_gripper_controller]: Configured and activated gripper_controller +[INFO] [spawner-4]: process has finished cleanly [pid 3114] +[INFO] [spawner-5]: process has finished cleanly [pid 3116] ``` ```bash -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` ``` [INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 diff --git a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md index e0b253d27..e1c649486 100644 --- a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md +++ b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md @@ -10,7 +10,7 @@ $ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py ``` -2. Launch the GUI program. +2. Launch the GUI program. ```bash $ ros2 launch open_manipulator_x_gui open_manipulator_x_gui.launch.py ``` diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md index def6ddf44..89c2d3a00 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md @@ -30,27 +30,38 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py ``` ``` -[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-09-11-33-18-224883-omx-16104 +[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-10-16-13-03-846807-omx-3063 [INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [ros2_control_node-1]: process started with pid [16107] -[INFO] [robot_state_publisher-2]: process started with pid [16109] -[INFO] [spawner-3]: process started with pid [16111] -[ros2_control_node-1] [WARN] [1733711598.457304019] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. -[ros2_control_node-1] [INFO] [1733711598.457565433] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.462483911] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' +[INFO] [ros2_control_node-1]: process started with pid [3066] +[INFO] [robot_state_publisher-2]: process started with pid [3068] +[INFO] [spawner-3]: process started with pid [3070] +[robot_state_publisher-2] [INFO] [1733814784.140348781] [robot_state_publisher]: got segment dummy_mimic_fix +[robot_state_publisher-2] [INFO] [1733814784.140441706] [robot_state_publisher]: got segment end_effector_link +[robot_state_publisher-2] [INFO] [1733814784.140450447] [robot_state_publisher]: got segment gripper_left_link +[robot_state_publisher-2] [INFO] [1733814784.140455005] [robot_state_publisher]: got segment gripper_right_link +[robot_state_publisher-2] [INFO] [1733814784.140459339] [robot_state_publisher]: got segment link1 +[robot_state_publisher-2] [INFO] [1733814784.140463495] [robot_state_publisher]: got segment link2 +[robot_state_publisher-2] [INFO] [1733814784.140467530] [robot_state_publisher]: got segment link3 +[robot_state_publisher-2] [INFO] [1733814784.140471673] [robot_state_publisher]: got segment link4 +[robot_state_publisher-2] [INFO] [1733814784.140475662] [robot_state_publisher]: got segment link5 +[robot_state_publisher-2] [INFO] [1733814784.140479440] [robot_state_publisher]: got segment world +[ros2_control_node-1] [WARN] [1733814784.150297704] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +[ros2_control_node-1] [INFO] [1733814784.150762238] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.163256190] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' [ros2_control_node-1] transmission_to_joint_matrix_ [ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, +[ros2_control_node-1] [5][0] 0.000000, [5][1] 0.000000, [5][2] 0.000000, [5][3] 0.000000, [5][4] 0.000000, [ros2_control_node-1] joint_to_transmission_matrix_ -[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, -[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, -[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, -[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, -[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, -[ros2_control_node-1] [INFO] [1733711598.463187008] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 +[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [0][5] 0.000000, +[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [1][5] 0.000000, +[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [2][5] 0.000000, +[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [3][5] 0.000000, +[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, [4][5] 0.000000, +[ros2_control_node-1] [INFO] [1733814784.164000125] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000 [ros2_control_node-1] Dynamixel Information File List. [ros2_control_node-1] num: 1000, name: xh430_w350.model [ros2_control_node-1] num: 1020, name: xm430_w350.model @@ -67,19 +78,9 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] num: 4150, name: ym080_230_r099.model [ros2_control_node-1] num: 4170, name: ym080_230_a099.model [ros2_control_node-1] num: 35074, name: rh_p12_rn.model -[ros2_control_node-1] [INFO] [1733711598.463668210] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -[ros2_control_node-1] [INFO] [1733711598.463694800] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port -[ros2_control_node-1] [INFO] [1733711598.463732680] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. -[robot_state_publisher-2] [INFO] [1733711598.463747550] [robot_state_publisher]: got segment dummy_mimic_fix -[robot_state_publisher-2] [INFO] [1733711598.463812395] [robot_state_publisher]: got segment end_effector_link -[robot_state_publisher-2] [INFO] [1733711598.463817218] [robot_state_publisher]: got segment gripper_left_link -[robot_state_publisher-2] [INFO] [1733711598.463819786] [robot_state_publisher]: got segment gripper_right_link -[robot_state_publisher-2] [INFO] [1733711598.463822153] [robot_state_publisher]: got segment link1 -[robot_state_publisher-2] [INFO] [1733711598.463824721] [robot_state_publisher]: got segment link2 -[robot_state_publisher-2] [INFO] [1733711598.463826977] [robot_state_publisher]: got segment link3 -[robot_state_publisher-2] [INFO] [1733711598.463829393] [robot_state_publisher]: got segment link4 -[robot_state_publisher-2] [INFO] [1733711598.463831850] [robot_state_publisher]: got segment link5 -[robot_state_publisher-2] [INFO] [1733711598.463834063] [robot_state_publisher]: got segment world +[ros2_control_node-1] [INFO] [1733814784.165060244] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ +[ros2_control_node-1] [INFO] [1733814784.165085781] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port +[ros2_control_node-1] [INFO] [1733814784.165119953] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled. [ros2_control_node-1] Succeeded to open the port! [ros2_control_node-1] Succeeded to change the [1000000] baudrate! [ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 @@ -87,86 +88,86 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 [ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 -[ros2_control_node-1] [INFO] [1733711598.470241202] [dynamixel_hardware_interface]: Trying to connect to the communication port... -[ros2_control_node-1] [INFO] [1733711598.470292254] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items -[ros2_control_node-1] [INFO] [1733711598.470952420] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.471939801] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.472939635] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.473941354] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.474942137] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.475940249] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.476938289] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.477939038] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.478938967] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.479947832] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.480938425] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.481938723] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.482939624] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 -[ros2_control_node-1] [INFO] [1733711598.483962690] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.485027389] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 -[ros2_control_node-1] [INFO] [1733711598.486033066] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 -[ros2_control_node-1] [INFO] [1733711598.486063329] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items +[ros2_control_node-1] [INFO] [1733814784.172855510] [dynamixel_hardware_interface]: Trying to connect to the communication port... +[ros2_control_node-1] [INFO] [1733814784.172904554] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items +[ros2_control_node-1] [INFO] [1733814784.174263837] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.175202777] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.176189566] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.177218657] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.178201814] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.179188157] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.180215312] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.181209639] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.182195348] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.183204690] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.184192489] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.185186500] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.186251591] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0 +[ros2_control_node-1] [INFO] [1733814784.187186969] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.188187523] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100 +[ros2_control_node-1] [INFO] [1733814784.189248186] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800 +[ros2_control_node-1] [INFO] [1733814784.189281693] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items [ros2_control_node-1] Dynamixel Read Type : sync read [ros2_control_node-1] ID : 11, 12, 13, 14, 15, -[ros2_control_node-1] Read items : Present Position Present Velocity Present Current Torque Enable Present Input Voltage +[ros2_control_node-1] Read items : Present Position Present VelocityPresent Current Torque Enable Present Input Voltage [ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13 [ros2_control_node-1] Success to set SyncRead handler using indirect address -[ros2_control_node-1] [INFO] [1733711598.552017035] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items +[ros2_control_node-1] [INFO] [1733814784.255333410] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items [ros2_control_node-1] Dynamixel Write Type : sync write [ros2_control_node-1] ID : 11, 12, 13, 14, 15, [ros2_control_node-1] Write items : Goal Position [ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4 [ros2_control_node-1] Success to set SyncWrite handler using indirect address -[ros2_control_node-1] [INFO] [1733711598.574956579] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575128253] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575134826] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.575142616] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711598.577106853] [dynamixel_hardware_interface]: Sync joint state to command (position, -1.49414 <- position, -1.49414 -[ros2_control_node-1] [INFO] [1733711598.577141023] [dynamixel_hardware_interface]: Sync joint state to command (position, -2.46094 <- position, -2.46094 -[ros2_control_node-1] [INFO] [1733711598.577154462] [dynamixel_hardware_interface]: Sync joint state to command (position, 29.8974 <- position, 29.8974 -[ros2_control_node-1] [INFO] [1733711598.577165628] [dynamixel_hardware_interface]: Sync joint state to command (position, 49.7704 <- position, 49.7704 -[ros2_control_node-1] [INFO] [1733711598.577177199] [dynamixel_hardware_interface]: Sync joint state to command (position, -0.529634 <- position, -0.529634 -[spawner-3] [INFO] [1733711598.652066060] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... +[ros2_control_node-1] [INFO] [1733814784.285087764] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285623329] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285649762] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.285677277] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.288399302] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.25354 <- position, 3.25354 +[ros2_control_node-1] [INFO] [1733814784.288484144] [dynamixel_hardware_interface]: Sync joint state to command (position, -22.5879 <- position, -22.5879 +[ros2_control_node-1] [INFO] [1733814784.288522542] [dynamixel_hardware_interface]: Sync joint state to command (position, 48.5393 <- position, 48.5393 +[ros2_control_node-1] [INFO] [1733814784.288556311] [dynamixel_hardware_interface]: Sync joint state to command (position, 59.4431 <- position, 59.4431 +[ros2_control_node-1] [INFO] [1733814784.288587808] [dynamixel_hardware_interface]: Sync joint state to command (position, 1.08561 <- position, 1.08561 +[ros2_control_node-1] [INFO] [1733814784.288619773] [dynamixel_hardware_interface]: Sync joint state to command (position, 0 <- position, 0 +[spawner-3] [INFO] [1733814784.344387122] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [ros2_control_node-1] [ID:011] Torque ON [ros2_control_node-1] [ID:012] Torque ON [ros2_control_node-1] [ID:013] Torque ON [ros2_control_node-1] [ID:014] Torque ON [ros2_control_node-1] [ID:015] Torque ON -[ros2_control_node-1] [INFO] [1733711599.082041586] [dynamixel_hardware_interface]: Dynamixel Hardware Start! -[ros2_control_node-1] [INFO] [1733711599.082172157] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' -[ros2_control_node-1] [INFO] [1733711599.115015405] [controller_manager]: update rate is 1000 Hz -[ros2_control_node-1] [INFO] [1733711599.115085191] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 -[ros2_control_node-1] [WARN] [1733711599.118452808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. -[ros2_control_node-1] [INFO] [1733711599.154601691] [controller_manager]: Loading controller 'joint_state_broadcaster' -[spawner-3] [INFO] [1733711599.167491768] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster -[ros2_control_node-1] [INFO] [1733711599.168488732] [controller_manager]: Configuring controller 'joint_state_broadcaster' -[ros2_control_node-1] [INFO] [1733711599.168600215] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published -[spawner-3] [INFO] [1733711599.188476880] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster -[INFO] [spawner-3]: process has finished cleanly [pid 16111] -[INFO] [spawner-4]: process started with pid [16155] -[INFO] [spawner-5]: process started with pid [16157] -[ros2_control_node-1] [INFO] [1733711599.875463479] [controller_manager]: Loading controller 'gripper_controller' -[spawner-4] [INFO] [1733711599.897671912] [spawner_gripper_controller]: Loaded gripper_controller -[ros2_control_node-1] [INFO] [1733711599.898245233] [controller_manager]: Configuring controller 'gripper_controller' -[ros2_control_node-1] [INFO] [1733711599.898323976] [gripper_controller]: Action status changes will be monitored at 20Hz. -[spawner-4] [INFO] [1733711599.908776934] [spawner_gripper_controller]: Configured and activated gripper_controller -[spawner-5] [INFO] [1733711599.914028628] [spawner_arm_controller]: waiting for service /controller_manager/list_controllers to become available... -[INFO] [spawner-4]: process has finished cleanly [pid 16155] -[ros2_control_node-1] [INFO] [1733711600.168048540] [controller_manager]: Loading controller 'arm_controller' -[ros2_control_node-1] [WARN] [1733711600.182951964] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. -[spawner-5] [INFO] [1733711600.184988166] [spawner_arm_controller]: Loaded arm_controller -[ros2_control_node-1] [INFO] [1733711600.185546460] [controller_manager]: Configuring controller 'arm_controller' -[ros2_control_node-1] [INFO] [1733711600.185644623] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. -[ros2_control_node-1] [INFO] [1733711600.185656873] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. -[ros2_control_node-1] [INFO] [1733711600.185669695] [arm_controller]: Using 'splines' interpolation method. -[ros2_control_node-1] [INFO] [1733711600.186139661] [arm_controller]: Controller state will be published at 200.00 Hz. -[ros2_control_node-1] [INFO] [1733711600.190808128] [arm_controller]: Action status changes will be monitored at 20.00 Hz. -[spawner-5] [INFO] [1733711600.200183049] [spawner_arm_controller]: Configured and activated arm_controller -[INFO] [spawner-5]: process has finished cleanly [pid 16157] +[ros2_control_node-1] [INFO] [1733814784.794363518] [dynamixel_hardware_interface]: Dynamixel Hardware Start! +[ros2_control_node-1] [INFO] [1733814784.794583503] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem' +[ros2_control_node-1] [INFO] [1733814784.844187956] [controller_manager]: update rate is 1000 Hz +[ros2_control_node-1] [INFO] [1733814784.844239126] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 +[ros2_control_node-1] [WARN] [1733814784.847602761] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +[ros2_control_node-1] [INFO] [1733814784.864748196] [controller_manager]: Loading controller 'joint_state_broadcaster' +[spawner-3] [INFO] [1733814784.872066996] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster +[ros2_control_node-1] [INFO] [1733814784.872576377] [controller_manager]: Configuring controller 'joint_state_broadcaster' +[ros2_control_node-1] [INFO] [1733814784.872671446] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published +[spawner-3] [INFO] [1733814784.890559256] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster +[INFO] [spawner-3]: process has finished cleanly [pid 3070] +[INFO] [spawner-4]: process started with pid [3114] +[INFO] [spawner-5]: process started with pid [3116] +[ros2_control_node-1] [INFO] [1733814785.561511632] [controller_manager]: Loading controller 'arm_controller' +[ros2_control_node-1] [WARN] [1733814785.574916138] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +[ros2_control_node-1] [INFO] [1733814785.576633589] [controller_manager]: Loading controller 'gripper_controller' +[spawner-5] [INFO] [1733814785.598697696] [spawner_arm_controller]: Loaded arm_controller +[ros2_control_node-1] [INFO] [1733814785.599380288] [controller_manager]: Configuring controller 'arm_controller' +[ros2_control_node-1] [INFO] [1733814785.599545696] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. +[ros2_control_node-1] [INFO] [1733814785.599572347] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. +[ros2_control_node-1] [INFO] [1733814785.599598355] [arm_controller]: Using 'splines' interpolation method. +[spawner-4] [INFO] [1733814785.600233495] [spawner_gripper_controller]: Loaded gripper_controller +[ros2_control_node-1] [INFO] [1733814785.600325312] [arm_controller]: Controller state will be published at 200.00 Hz. +[ros2_control_node-1] [INFO] [1733814785.605748626] [arm_controller]: Action status changes will be monitored at 20.00 Hz. +[ros2_control_node-1] [INFO] [1733814785.609463352] [controller_manager]: Configuring controller 'gripper_controller' +[ros2_control_node-1] [INFO] [1733814785.609542143] [gripper_controller]: Action status changes will be monitored at 20Hz. +[spawner-5] [INFO] [1733814785.619695267] [spawner_arm_controller]: Configured and activated arm_controller +[spawner-4] [INFO] [1733814785.626031382] [spawner_gripper_controller]: Configured and activated gripper_controller +[INFO] [spawner-4]: process has finished cleanly [pid 3114] +[INFO] [spawner-5]: process has finished cleanly [pid 3116] ``` ```bash -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` ``` [INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md index 308cd4d41..caef18d32 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -21,8 +21,8 @@ $ sudo apt install \ ```bash $ mkdir -p colcon_ws/src $ cd ~/colcon_ws/src/ -$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/open_manipulator.git -# $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git +$ git clone -b humble https://github.com/ROBOTIS-GIT/open_manipulator.git +$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git $ cd ~/colcon_ws && colcon build --symlink-install ``` @@ -30,7 +30,6 @@ Set the ROS environment for PC ```bash $ echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc -$ echo 'source /usr/share/gazebo-11/setup.sh' >> ~/.bashrc $ echo 'source ~/colcon_ws/install/local_setup.bash' >> ~/.bashrc $ source ~/.bashrc ``` diff --git a/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI.png b/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI.png index ed05efd8d38043d0a3e474b84e87171584c5a980..88347c9bf242b7b3ef07d2d317799e56be936035 100644 GIT binary patch delta 46090 zcmb5Wby!tF*EfuUgfvJ=OG2B!~DW$tRq`SMjIdpyp@UG{*-}ugT 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From 36fd23cd7e4b73f730c687ebffaf695ec70e562f Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Thu, 12 Dec 2024 16:09:30 +0900 Subject: [PATCH 16/18] Refactored descriptions Signed-off-by: Sungho Woo --- .../controller/launch_controller_humble.md | 27 ++-------------- .../controller/moveit_humble.md | 16 +++++++--- .../operation/gui_program_humble.md | 1 + .../operation/teleop_humble.md | 30 ++++++------------ .../keyboard_teleop_humble.md | 8 ++++- .../launch_controller_humble.md | 29 ++--------------- .../quickstart_humble_ros_packages.md | 1 + .../simulation/gazebo_operation_humble.md | 13 ++++++-- .../simulation/launch_gazebo_humble.md | 1 - .../openmanipulator_x/moveit2_example.png | Bin 0 -> 138471 bytes .../openmanipulator_x/real_omx_init_pose.png | Bin 0 -> 606833 bytes 11 files changed, 47 insertions(+), 79 deletions(-) create mode 100644 assets/images/platform/openmanipulator_x/moveit2_example.png create mode 100644 assets/images/platform/openmanipulator_x/real_omx_init_pose.png diff --git a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md index f1bc0b173..dc49ecfef 100644 --- a/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md @@ -4,31 +4,27 @@ Open a new terminal and launch the open_manipulator_x packages. Close all terminal and enter the command below in each new terminal. ```bash $ ros2 launch open_manipulator_x_bringup hardware.launch.py -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` - When operating with `OpenCR` Close all terminal and enter the command below in the new terminal. ```bash $ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0 -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` {% capture warning_01 %} **WARNING** : Please check each joint position before running OpenMANIPULATOR-X. The manipulator will not operate if any joint is out of operable range. The following image describes the recommended pose of OpenMANIPULATOR-X at start up. Please adjust the pose before the torque is turned on by the controller. - + {% endcapture %}

    Follwing message will be shown in the Terminal after the process done successfully with `U2D2`. -```bash -$ ros2 launch open_manipulator_x_bringup hardware.launch.py ``` +$ ros2 launch open_manipulator_x_bringup hardware.launch.py -``` [INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-10-16-13-03-846807-omx-3063 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [3066] @@ -165,25 +161,6 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [INFO] [spawner-5]: process has finished cleanly [pid 3116] ``` -```bash -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py -``` -``` -[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 -[INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [servo_node_main-1]: process started with pid [22595] -[servo_node_main-1] [WARN] [1732776698.266193749] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: -[servo_node_main-1] extra_arguments=[{'use_intra_process_comms' : True}] -[servo_node_main-1] to the Servo composable node in the launch file -[servo_node_main-1] [INFO] [1732776698.270341102] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00252236 seconds -[servo_node_main-1] [INFO] [1732776698.270367397] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... -[servo_node_main-1] [WARN] [1732776698.329940951] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. -[servo_node_main-1] [INFO] [1732776698.542474436] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' -[servo_node_main-1] [INFO] [1732776698.544878602] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects -[servo_node_main-1] [INFO] [1732776698.544895196] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor -[servo_node_main-1] [INFO] [1732776698.545435210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' -[servo_node_main-1] [INFO] [1732776698.545607100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' -``` {% capture notice_01 %} **TIP**: diff --git a/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md b/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md index d61c7617e..9e3968f74 100644 --- a/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md @@ -1,13 +1,21 @@ -MoveIt! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking. +MoveIt 2! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking. -#### [Launch MoveIt!](#launch-moveit) +#### [Launch MoveIt 2 with Hardware](#launch-moveit) -Before launching MoveIt, ensure that the `hardware.launch.py` from [Launch Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) is running in a separate terminal. +Before launching MoveIt 2, ensure that the `hardware.launch.py` from [Launch Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) is running in a separate terminal. Then launch **MoveIt!** with the following command. ```bash $ ros2 launch open_manipulator_x_moveit_config moveit_core.launch.py ``` - ![](/assets/images/platform/openmanipulator_x/moveit_launch.png) + ![](/assets/images/platform/openmanipulator_x/moveit2_example.png) + +**Simple Instructions for Using MOVEIT 2:** + +1. You can move the robot to your desired pose using the **Interactive Marker** visible in RViz. +2. Use the **Plan** option in the Commands column to simulate the motion of the robotic arm. +3. Click **Execute** to move the robot according to the simulated motion. +4. Set the **Planning Group** to `arm` and use the **Goal State** options `init` or `home` to move the robot to predefined poses. +5. Change the **Planning Group** to `gripper` and use **Goal State** options such as `close` or `open` to open and close the gripper. #### [Using MoveIt! with Gazebo](#using-moveit-with-gazebo) Gazebo is a tool to simulate and test your robot in a virtual enviroment, without an actual robot. diff --git a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md index e1c649486..23782d5c1 100644 --- a/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md +++ b/_includes/en/platform/openmanipulator_x/operation/gui_program_humble.md @@ -29,6 +29,7 @@ $ ros2 launch open_manipulator_x_gui open_manipulator_x_gui.launch.py 7. Create a task constructor with OpenMANIPULATOR-X. 7.1. Click the `Read task` button to prepare for saving tasks. + (You can create or modify the pre-saved joint values in the **robot_joint_log.csv** file. The file's load path can be checked in the terminal when the GUI node is launched.) 7.2. Adjust the manipulator's posture and save it by clicking `Save pose`. 7.3. Save multiple postures to complete the preparation. ![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI6.png) diff --git a/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md b/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md index 6f7415774..9f306ede5 100644 --- a/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md +++ b/_includes/en/platform/openmanipulator_x/operation/teleop_humble.md @@ -13,15 +13,20 @@ **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`. {: .notice--success} -1. Launch `servo_keyboard_input` node for simple teleoperation test using the keyboard. -The [OpenMANIPULATOR-X Controller](/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller) must be running on another terminal. +Open a terminal and execute the servo launch file below; MoveIt Servo provides real-time, smooth, and responsive control for robotic manipulators in joint or Cartesian space. +```bash +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` + + +Open another terminal and enter below command. ```bash $ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop ``` -2. If the node is successfully launched, the following instruction will appear in the terminal window. +You will see the interface below in the terminal window after a successful launch, and you can now easily control the OM-X using the keyboard. - ``` +``` [INFO] [1732776371.215661501] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER [INFO] [1732776371.216112752] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER [INFO] [1732776371.216172872] [servo_keyboard_input]: call 'moveit_servo' start srv. @@ -35,19 +40,4 @@ Joint Control Keys: 4/r: Joint4 +/- Use o|p to open/close the gripper. 'ESC' to quit. - ``` - -### [RC-100](#rc-100) - -Not supported. -{: .notice--warning} - -### [PS4 Joystick](#ps4-joystick) - -Not supported. -{: .notice--warning} - -### [XBOX 360 Joystick](#xbox-360-joystick) - -Not supported. -{: .notice--warning} \ No newline at end of file +``` diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md index 62d5af435..214345d16 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/keyboard_teleop_humble.md @@ -1,11 +1,17 @@ +Open a terminal and execute the servo launch file below; MoveIt Servo provides real-time, smooth, and responsive control for robotic manipulators in joint or Cartesian space. +```bash +$ ros2 launch open_manipulator_x_moveit_config servo.launch.py +``` + + Open another terminal and enter below command. ```bash $ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop ``` +You will see the interface below in the terminal window after a successful launch, and you can now easily control the OM-X using the keyboard. -You will see below interface on the terminal window after a successful launch. ``` [INFO] [1732776371.215661501] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER [INFO] [1732776371.216112752] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md index 89c2d3a00..90fd5c765 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/launch_controller_humble.md @@ -5,14 +5,12 @@ After running this section, software controller that controls the OpenMANIPULAOT Close all terminal and enter the command below in each new terminal. ```bash $ ros2 launch open_manipulator_x_bringup hardware.launch.py -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` - When operating with `OpenCR` Close all terminal and enter the command below in the new terminal. ```bash $ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0 -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` {% capture warning_01 %} @@ -20,16 +18,15 @@ $ ros2 launch open_manipulator_x_moveit_config servo.launch.py Please check each joint position before running OpenMANIPULATOR-X. If joints are set inappropriately, OpenMANIPULATOR-X might not start operating. The picture of OpenMANIPULATOR-X below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque is not enabled. - + {% endcapture %}
    {{ warning_01 | markdownify }}
    Launch result on the terminal will look like below. -```bash -$ ros2 launch open_manipulator_x_bringup hardware.launch.py -``` ``` +$ ros2 launch open_manipulator_x_bringup hardware.launch.py + [INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-10-16-13-03-846807-omx-3063 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [3066] @@ -166,26 +163,6 @@ $ ros2 launch open_manipulator_x_bringup hardware.launch.py [INFO] [spawner-5]: process has finished cleanly [pid 3116] ``` -```bash -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py -``` -``` -[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-11-28-15-51-38-138154-omx-22594 -[INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [servo_node_main-1]: process started with pid [22595] -[servo_node_main-1] [WARN] [1732776698.266193749] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: -[servo_node_main-1] extra_arguments=[{'use_intra_process_comms' : True}] -[servo_node_main-1] to the Servo composable node in the launch file -[servo_node_main-1] [INFO] [1732776698.270341102] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00252236 seconds -[servo_node_main-1] [INFO] [1732776698.270367397] [moveit_robot_model.robot_model]: Loading robot model 'open_manipulator_x'... -[servo_node_main-1] [WARN] [1732776698.329940951] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. -[servo_node_main-1] [INFO] [1732776698.542474436] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' -[servo_node_main-1] [INFO] [1732776698.544878602] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects -[servo_node_main-1] [INFO] [1732776698.544895196] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor -[servo_node_main-1] [INFO] [1732776698.545435210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' -[servo_node_main-1] [INFO] [1732776698.545607100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' -``` - {% capture notice_01 %} **TIP**: - If you can't load DYNAMIXEL, please check firmware to use ROBOTIS software ([DYNAMIXEL Wizard 2.0](/docs/en/software/dynamixel/dynamixel_wizard2/#firmware-update)) diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md index caef18d32..d4beab492 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros_packages.md @@ -23,6 +23,7 @@ $ mkdir -p colcon_ws/src $ cd ~/colcon_ws/src/ $ git clone -b humble https://github.com/ROBOTIS-GIT/open_manipulator.git $ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git +$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git $ cd ~/colcon_ws && colcon build --symlink-install ``` diff --git a/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md b/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md index 165eefa29..b0d5b0409 100644 --- a/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md +++ b/_includes/en/platform/openmanipulator_x/simulation/gazebo_operation_humble.md @@ -1,4 +1,5 @@ -In order to control the simulated OpenMANIPULATOR-X, launch the [OpenManipulator control GUI](/docs/en/platform/openmanipulator_x/ros_operation/#gui-program) or [Keyboard teleoperation](/docs/en/platform/openmanipulator_x/ros_operation/#keyboard) +In order to control the simulated OpenMANIPULATOR-X, launch the [OpenManipulator control GUI](/docs/en/platform/openmanipulator_x/ros_operation/#gui-program) or [Keyboard teleoperation](/docs/en/platform/openmanipulator_x/ros_operation/#keyboard) +Click to view detailed instructions. - GUI Program ```bash @@ -7,6 +8,14 @@ In order to control the simulated OpenMANIPULATOR-X, launch the [OpenManipulator ![](/assets/images/platform/openmanipulator_x/OpenManipulator_x_GUI.png) - Keyboard Teleoperation + + Open a terminal and execute the servo launch file below; MoveIt Servo provides real-time, smooth, and responsive control for robotic manipulators in joint or Cartesian space. + ```bash + $ ros2 launch open_manipulator_x_moveit_config servo.launch.py + ``` + + Open another terminal + ```bash $ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop ``` @@ -25,4 +34,4 @@ In order to control the simulated OpenMANIPULATOR-X, launch the [OpenManipulator 4/r: Joint4 +/- Use o|p to open/close the gripper. 'ESC' to quit. - ``` \ No newline at end of file + ``` diff --git a/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md index 224ef0299..4dd34ca5a 100644 --- a/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md +++ b/_includes/en/platform/openmanipulator_x/simulation/launch_gazebo_humble.md @@ -2,7 +2,6 @@ 1. Close all terminals, then open new terminals and enter the commands below to load OpenManipulator-X on the Gazebo simulator. ``` bash $ ros2 launch open_manipulator_x_bringup gazebo.launch.py -$ ros2 launch open_manipulator_x_moveit_config servo.launch.py ``` 2. 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zIfD$XZaU)+O~Fn)F1dtR@Dqxf;snR%3rXl+Mw zl}s3qrbSQ8+c-Bk+atT}JV-zu#2POm;{gb4{>~kE2*o1>hqjo};5Kur1fVsESuE~* z;08(CDq0I%S#?fY$bT5Or2EWeJ*9v|)|;S{mS_$P2+;$k2yw|H44!L3Lz)yArIpY^ ga7=A{ww(PW@&>Kc{p9z^83Oo{g(*o^i5vOb%7 literal 0 HcmV?d00001 From 97fe6b25671d9eddabe660e21852a0b8fa5a956c Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Thu, 12 Dec 2024 16:16:32 +0900 Subject: [PATCH 17/18] Fixed EOF Signed-off-by: Sungho Woo --- .../openmanipulator_x/controller/check_setting_humble.md | 2 +- .../quick_start_guide/quickstart_humble_ros.md | 2 +- docs/en/platform/openmanipulator_x/ros_operation.md | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md b/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md index e35a9f85e..4dfb60088 100644 --- a/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md +++ b/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md @@ -1,2 +1,2 @@ Not supported. -{: .notice--warning} \ No newline at end of file +{: .notice--warning} diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md index b3fd4b3df..4dc8e0d8c 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_humble_ros.md @@ -17,4 +17,4 @@ $ bash ./install_ros2_foxy.sh {: .notice--info} If you prefer a manual installation,following link guides you how to install ROS 2 on your PC -- [Manual Installation of ROS 2 Foxy Fitzroy](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) --> \ No newline at end of file +- [Manual Installation of ROS 2 Foxy Fitzroy](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) --> diff --git a/docs/en/platform/openmanipulator_x/ros_operation.md b/docs/en/platform/openmanipulator_x/ros_operation.md index 12fea27ef..b5e7dc9f3 100644 --- a/docs/en/platform/openmanipulator_x/ros_operation.md +++ b/docs/en/platform/openmanipulator_x/ros_operation.md @@ -97,4 +97,4 @@ page_number: 10
    {% include en/platform/openmanipulator_x/operation/teleop_arduino.md %} -
    \ No newline at end of file +

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  • From ff2b24bad02e343358ab8856ff72df62af1576be Mon Sep 17 00:00:00 2001 From: Sungho Woo Date: Fri, 13 Dec 2024 14:22:53 +0900 Subject: [PATCH 18/18] Changed noetic-devel to noetic branch Signed-off-by: Sungho Woo --- .../quick_start_guide/quickstart_noetic_ros_packages.md | 6 +++--- _includes/en/platform/turtlebot3/sbc_setup_noetic.md | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_noetic_ros_packages.md b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_noetic_ros_packages.md index 516132b07..a7347a14f 100644 --- a/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_noetic_ros_packages.md +++ b/_includes/en/platform/openmanipulator_x/quick_start_guide/quickstart_noetic_ros_packages.md @@ -12,9 +12,9 @@ $ sudo apt install ros-noetic-robotis-manipulator 2. Download and build OpenMANIPULATOR-X packages ```bash $ cd ~/catkin_ws/src/ -$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/open_manipulator.git -$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git -$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git +$ git clone -b noetic https://github.com/ROBOTIS-GIT/open_manipulator.git +$ git clone -b noetic https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git +$ git clone -b noetic https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git $ git clone -b noetic https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git $ cd ~/catkin_ws && catkin_make ``` diff --git a/_includes/en/platform/turtlebot3/sbc_setup_noetic.md b/_includes/en/platform/turtlebot3/sbc_setup_noetic.md index 9e4fa189f..5753ccd37 100644 --- a/_includes/en/platform/turtlebot3/sbc_setup_noetic.md +++ b/_includes/en/platform/turtlebot3/sbc_setup_noetic.md @@ -275,7 +275,7 @@ $ sudo apt install ros-noetic-hls-lfcd-lds-driver $ sudo apt install ros-noetic-turtlebot3-msgs $ sudo apt install ros-noetic-dynamixel-sdk $ cd ~/catkin_ws/src -$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git +$ git clone -b noetic https://github.com/ROBOTIS-GIT/turtlebot3.git $ cd ~/catkin_ws/src/turtlebot3 $ rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/ $ cd ~/catkin_ws/