Repository Summary

Checkout URI https://github.com/ROBOTIS-GIT/open_manipulator.git
VCS Type git
VCS Version humble
Last Updated 2024-12-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

OpenMANIPULATOR-X

The 4-DOF Open Manipulator-X now supports MoveIt 2, enabling enhanced motion planning and control for advanced robotic applications. This update also brings significant improvements to the teleoperation features, example use cases, and the graphical user interface (GUI), providing a more seamless and user-friendly experience for developers and researchers.

  • Active Branches: noetic, humble, main
  • Legacy Branches: *-devel

ROBOTIS e-Manual for OpenMANIPULATOR-X

Open Source related to OpenMANIPULATOR-X

Documents and Videos related to OpenMANIPULATOR-X

CONTRIBUTING

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).


Repository Summary

Checkout URI https://github.com/ROBOTIS-GIT/open_manipulator.git
VCS Type git
VCS Version jazzy
Last Updated 2025-03-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

🦾 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. Prerequisites

Supported ROS Version

ROS 2 Jazzy

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

Required Packages

Install the following dependencies:

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

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

3. Installation

1. Clone the Repository

Navigate to your ROS 2 workspace and 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

2. Build the Package

Compile the package using colcon:

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

3. Source the Workspace

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

Create and apply udev rules:

ros2 run open_manipulator_bringup y_create_udev_rules # for om_y
ros2 run open_manipulator_bringup x_create_udev_rules # for om_x

4. 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

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

CONTRIBUTING

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).


Repository Summary

Checkout URI https://github.com/ROBOTIS-GIT/open_manipulator.git
VCS Type git
VCS Version main
Last Updated 2025-03-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

🦾 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. Prerequisites

Supported ROS Version

ROS 2 Jazzy

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

Required Packages

Install the following dependencies:

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

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

3. Installation

1. Clone the Repository

Navigate to your ROS 2 workspace and 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

2. Build the Package

Compile the package using colcon:

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

3. Source the Workspace

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

Create and apply udev rules:

ros2 run open_manipulator_bringup y_create_udev_rules # for om_y
ros2 run open_manipulator_bringup x_create_udev_rules # for om_x

4. 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

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

CONTRIBUTING

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).


open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository

open_manipulator repository