🦾 OpenMANIPULATOR

Overview

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

• OMY
• 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 OMY 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
   

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

   # Show help
   ./docker/container.sh help

   # Start container
   ./docker/container.sh start

   # 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.

1. 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</u>

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.**

1. Install Intel RealSense ROS Wrapper

   Please follow the official instructions for installing and using the RealSense ROS wrapper at:

   • https://github.com/IntelRealSense/realsense-ros

   This will ensure you have the latest and most compatible version for your system and camera.

2. Clone the Repository

```bash cd ~/ros2_ws/src

File truncated at 100 lines see the full file

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).