Merge pull request #1720 from ROBOTIS-GIT/feature-omx-refactoring

Added manual for OpenMANIPULATOR-X with MoveIt2 support on Humble version
ROBOTIS-GIT · Dec 13, 2024 · c021e38 · c021e38
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diff --git a/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md b/_includes/en/platform/openmanipulator_x/controller/check_setting_humble.md
@@ -0,0 +1,2 @@
+Not supported.
+{: .notice--warning}
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
@@ -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/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md b/_includes/en/platform/openmanipulator_x/controller/launch_controller_humble.md
@@ -0,0 +1,175 @@
+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.
+```bash
+$ ros2 launch open_manipulator_x_bringup hardware.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
+```
+
+{% 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.  
+<img src="/assets/images/platform/openmanipulator_x/real_omx_init_pose.png" width="250">
+{% endcapture %}
+<div class="notice--warning">{{ warning_01 | markdownify }}</div>
+
+Follwing message will be shown in the Terminal after the process done successfully with `U2D2`.  
+
+```
+$ 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]
+[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, [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
+[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: 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] [1733814784.165060244] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+[ros2_control_node-1] [INFO] [1733814784.165085781] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port
+[ros2_control_node-1] [INFO] [1733814784.165119953] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled.
+[ros2_control_node-1] Succeeded to open the port!
+[ros2_control_node-1] Succeeded to change the [1000000] baudrate!
+[ros2_control_node-1] [ID:011] Request ping	 - Ping succeeded. Dynamixel model number : 1020
+[ros2_control_node-1] [ID:012] Request ping	 - Ping succeeded. Dynamixel model number : 1020
+[ros2_control_node-1] [ID:013] Request ping	 - Ping succeeded. Dynamixel model number : 1020
+[ros2_control_node-1] [ID:014] Request ping	 - Ping succeeded. Dynamixel model number : 1020
+[ros2_control_node-1] [ID:015] Request ping	 - Ping succeeded. Dynamixel model number : 1020
+[ros2_control_node-1] [INFO] [1733814784.172855510] [dynamixel_hardware_interface]: Trying to connect to the communication port...
+[ros2_control_node-1] [INFO] [1733814784.172904554] [dynamixel_hardware_interface]: $$$$$ 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]: $$$$$ Init Dxl Read Items
+[ros2_control_node-1] Dynamixel Read Type : sync read
+[ros2_control_node-1] ID : 11, 12, 13, 14, 15, 
+[ros2_control_node-1] Read items : 	Present Position	Present VelocityPresent Current	Torque Enable	Present Input Voltage
+[ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13
+[ros2_control_node-1] Success to set SyncRead handler using indirect address
+[ros2_control_node-1] [INFO] [1733814784.255333410] [dynamixel_hardware_interface]: $$$$$ 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] [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] [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]
+```
+
+
+{% 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))  
+<!-- - If you would like to change DYNAMIXEL ID, please check [`open_manipulator_x.cpp`](https://github.com/ROBOTIS-GIT/open_manipulator/blob/be2859a0506b4e941a19435c0a07562b41768a27/open_manipulator_libs/src/OpenManipulator.cpp#L40) in the open_manipulator_lib folder. The default ID is **11, 12, 13, 14** for joints and **15** for the gripper -->
+{% endcapture %}
+<div class="notice--success">{{ notice_01 | markdownify }}</div>
+
+{% capture notice_02 %}
+**NOTE**: OpenMANIPULATOR-X controller is compatible with [Protocol 2.0](/docs/en/dxl/protocol2/) which supports `MX 2.0`, `X` and `Pro` series. [Protocol 1.0](/docs/en/dxl/protocol1/) does not support SyncRead instructions to access to multiple DYNAMIXEL's's simultaneously.  
+{% endcapture %}
+<div class="notice--info">{{ notice_02 | markdownify}}</div>
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
@@ -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 %}
+<div class="notice--info">{{ notice_01 | markdownify }}</div>
diff --git a/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md b/_includes/en/platform/openmanipulator_x/controller/moveit_humble.md
@@ -0,0 +1,30 @@
+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 2 with Hardware](#launch-moveit) 
+
+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/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.  
+
+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
+```