🦾 OpenMANIPULATOR

Overview

This repository provides an integrated management package for ROBOTIS robotic arms, including:

• OpenMANIPULATOR-Y
• OpenMANIPULATOR-X
• Leader-Follower Manipulator System

With this integration, all Robotis manipulators are managed under a unified package to ensure better compatibility and functionality.

Key Features

This package supports ROS 2 Jazzy and Gazebo Harmonic on Ubuntu 24.04, offering the following functionalities:

• Integration of MoveIt 2 for Enhanced Motion Planning
• Graphical User Interface (GUI) Implementation and Support
• Teleoperation (Teleop) Capabilities
• Leader-Follower Control Mechanism with Gravity Compensation for Imitation Learning

OpenMANIPULATOR User Guide

1. Introduction

The OpenMANIPULATOR-Y is a 6-DOF robotic arm designed for advanced robotic manipulation tasks. This ROS 2 package provides seamless integration, enhanced control, and versatile functionality for simulation and hardware applications.

2. Installation Methods

You can choose between two installation methods:

Option 1: Using Docker (Recommended)

This method provides an isolated environment with all dependencies pre-installed.

1. Install Docker and Docker Compose Follow the official Docker installation guide: Install Docker Engine

2. Clone the Repository

   git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
   cd open_manipulator

3. Container Management The repository includes a container management script with the following commands:

   # Show help
   ./docker/container.sh help
   
   # Start container with Gazebo support
   ./docker/container.sh start with_gz
   
   # Start container without Gazebo support
   ./docker/container.sh start without_gz
   
   # Enter the running container
   ./docker/container.sh enter
   
   # Stop and remove the container
   ./docker/container.sh stop

   [Note] When stopping the container, you'll be asked for confirmation as this will remove all unsaved data in the container.

4. Data Persistence The container maps the following directories for data persistence:

   • ./docker/workspace:/workspace - The workspace directory inside the docker folder is mapped to /workspace inside the container

   [Important] Data Persistence Rules:

   • Data in /workspace inside the container is saved to docker/workspace on your host
   • Container restart (using docker restart) maintains all data
   • Container removal (using container.sh stop) will remove all data except what's in the mapped /workspace directory
   • Always save your work in the /workspace directory to ensure it persists after container removal

Option 2: Host Installation

Follow these steps if you prefer to install directly on your host system:

1. Prerequisites

   • Supported ROS Version This package is compatible only with ROS 2 Jazzy. Ensure that ROS 2 Jazzy is properly installed.

   • USB Port Permissions To enable communication with the hardware, add your user to the dialout group:

     sudo usermod -aG dialout $USER

     A login and logout are required.

   • Environment Configuration Set the robot model based on your system:

     • om_y_follower – OpenMANIPULATOR-Y with leader-follower functionality.
     • om_y – OpenMANIPULATOR-Y as a standalone model.
     • om_x – OpenMANIPULATOR-X.

     [Caution] Make sure to configure it properly before using the desired mode.

     ex) Add the configuration to ~/.bashrc:

     echo 'export ROBOT_MODEL=om_y' >> ~/.bashrc
     source ~/.bashrc

2. Install Required Packages

   sudo apt-get update && sudo apt-get install -y \
       libboost-all-dev \
       ros-jazzy-hardware-interface \
       ros-jazzy-controller-manager \
       ros-jazzy-ros2-controllers \
       ros-jazzy-tf-transformations \
       ros-jazzy-gz* \
       ros-jazzy-pal-statistics
   sudo apt-get install -y ros-jazzy-moveit-* --no-install-recommends

3. Clone the Repository

   cd ~/${WORKSPACE}/src
   git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
   git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
   git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git

4. Build the Package

   cd ~/${WORKSPACE}
   colcon build --symlink-install

5. Source the Workspace

   source ~/${WORKSPACE}/install/setup.bash

6. Create and apply udev rules

   ros2 run open_manipulator_bringup x_create_udev_rules # for om_x

3. Execution Commands

Step 1: Choose Your Operating Mode

1️⃣ Leader-Follower Mode

For leader-follower functionality, use:

ros2 launch open_manipulator_bringup ai_teleoperation.launch.py

Ensure proper connection and detection of leader and follower devices.

2️⃣ Standalone Mode

For standalone mode, launch:

ros2 launch open_manipulator_bringup hardware_y.launch.py #for om_y
ros2 launch open_manipulator_bringup hardware_x.launch.py #for om_x

Confirm that hardware is properly connected before execution.

3️⃣ Gazebo Simulation Mode

For Gazebo simulation mode, launch:

ros2 launch open_manipulator_bringup gazebo.launch.py #for om_x and om_y

Ensure that Gazebo Harmonic is properly installed and configured before running the simulation.

Step 2: Extend Functionality

1. Keyboard Teleoperation

Control the manipulator (simulation or hardware) using your keyboard:

ros2 run open_manipulator_teleop keyboard_control_y.py # for om_y
ros2 run open_manipulator_teleop keyboard_control_x.py # for om_x

Joint Control

• 1 / q - Joint 1
• 2 / w - Joint 2
• 3 / e - Joint 3
• 4 / r - Joint 4
• 5 / t - Joint 5
• 6 / y - Joint 6

Gripper Control

• o - Open gripper
• p - Close gripper

2. MoveIt! Launch

Enable MoveIt functionality for advanced motion planning in RViz:

ros2 launch open_manipulator_moveit_config moveit_core.launch.py

Move interactive markers to position the robotic arm, then click Plan and Execute.

3. GUI Control

Launch MoveIt GUI:

ros2 launch open_manipulator_moveit_config move_group.launch.py

Launch the OpenMANIPULATOR GUI:

ros2 launch open_manipulator_gui open_manipulator_y_gui.launch.py # for om_y
ros2 launch open_manipulator_gui open_manipulator_x_gui.launch.py # for om_x

Step 3: Explore GUI Features

Basic Controls

• Start Timer: Activates the system.
• Robot Status: Displays current manipulator state.
• Init Pose: Moves the manipulator to a vertical position.
• Home Pose: Moves the manipulator to a compact, safe position.
• Gripper Open/Close: Opens or closes the gripper.

Task Execution

• Joint Space Tab: Adjust individual joint angles.

• Task Space Tab: Control the end-effector position.

• Task Constructor Tab

  • Read Task: View saved poses.
  • Save Pose: Save current state.
  • Rap: Set task repetition (1–999).
  • Play: Execute saved tasks.
  • Stop: Halt operations.
  • Reset Task: Clear saved tasks.

(Legacy) ROBOTIS e-Manual for OpenMANIPULATOR-X

• ROBOTIS e-Manual

The OpenMANIPULATOR-X operation method is similar to OpenMANIPULATOR-Y, and the e-Manual is currently being updated.