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[ROS] Manipulator Manager

NOTE:

  • This instructions has been tested on Ubuntu 16.04 and ROS Kinetic Kame.
  • This instructions are supposed to be running on PC ROS packages installed in. Please run the instructions below on your PC ROS packages installed in.

Launch Manager

$ sudo bash
[sudo] password for robotis:   
# roslaunch open_manipulator_p_manager open_manipulator_p_manager.launch

If the manipulator manger has been launched successfully, the terminal will show the following message.

SUMMARY
========

PARAMETERS
 * /gazebo: False
 * /gazebo_robot_name: robotis_manipulat...
 * /init_file_path: /home/user/catkin...
 * /offset_table: /home/user/catkin...
 * /robot_file_path: /home/user/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    open_manipulator_p_manager (open_manipulator_p_manager/open_manipulator_p_manager)

ROS_MASTER_URI=http://localhost:11311

process[open_manipulator_p_manager-1]: started with pid [19408]
[ INFO] [1552279834.24ro20783]: manager->init
/dev/ttyUSB0 added. (baudrate: 1000000)
(/dev/ttyUSB0) [ID:  1] PH54-200-S500-R added.
(/dev/ttyUSB0) [ID:  2] PH54-200-S500-R added.
(/dev/ttyUSB0) [ID:  3] PH54-100-S500-R added.
(/dev/ttyUSB0) [ID:  4] PH54-100-S500-R added.
(/dev/ttyUSB0) [ID:  5] PH42-020-S300-R added.
(/dev/ttyUSB0) [ID:  6] PH42-020-S300-R added.
[ INFO] [1552279834.361381084]: Load offsets...

NOTE: If you have a gripper(RH-P12-RN(A)), Download the source code of RH-P12-RN from GitHub and add the gripper module to the framework(Example).

Check Setting

RViz

$ roslaunch open_manipulator_p_bringup open_manipulator_p.launch

If you have a gripper(RH-P12-RN(A)), see below.

$ roslaunch open_manipulator_p_bringup open_manipulator_p.launch with_gripper:=true

Message List

Topic

ROS Message Type

Subscribed Topics

/robotis/base/ini_pose_msg (std_msgs/String)
   Message for initial pose

/robotis/base/set_mode_msg (std_msgs/String)
   Message for set mode

/robotis/base/joint_pose_msg (manipulator_manipulation_module_msgs/JointPose)
   Message for joint space control

/robotis/base/kinematics_pose_msg (manipulator_manipulation_module_msgs/KinematicsPose)
   Message for task space control

Published Topics

/robotis/status(robotis_controller_msgs/StatusMsg)
   Message for current state

Service

ROS Service Type

Services

/robotis/base/get_joint_pose (manipulator_manipulation_module_msgs/GetJointPose)
   Service to read current joint value

/robotis/base/get_kinematics_pose (manipulator_manipulation_module_msgs/GetKinematicsPose)
   Service to read current end effector’s pose