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Teleoperation

Use this page to run OMX leader-follower teleoperation. This is the operation mode normally used before collecting demonstrations with Cyclo Intelligence.

info

At least one Zenoh daemon must be running in the communication network. If no Zenoh daemon is running, ROS 2 nodes cannot discover or communicate with each other.

For the recommended setup, run zenohd in a terminal inside the OpenMANIPULATOR Docker container.

Leader-Follower Teleoperation​

After entering the OpenMANIPULATOR Docker container, run:

ros2 launch open_manipulator_bringup omx_ai.launch.py
warning

Running this command can move OMX immediately. Keep the robot workspace clear before launching teleoperation.

This command performs the following sequence:

  1. Moves the follower to its initial position.
  2. Starts the leader launch file.
  3. Synchronizes the leader and follower.

After these steps, the leader-follower system is ready.

AI Teleoperation

Real-time synchronized motion between Leader and Follower

info

Teleoperation mode does not support MoveIt 2, GUI, or Keyboard Teleop. Use Robot Control for those features.

Camera Node​

For demonstration recording, launch the camera node from the machine where the camera is connected.

ros2 launch open_manipulator_bringup camera_usb_cam.launch.py

To set the camera topic namespace or video device explicitly, pass the launch arguments:

ros2 launch open_manipulator_bringup camera_usb_cam.launch.py name:=camera1 video_device:=/dev/video0

After launching the camera node, check that the camera image topics are visible from the robot network.

Follower Bringup for Inference​

Use follower bringup when another runtime sends commands to the follower robot, such as Cyclo Control or model inference.

warning

Stop leader-follower teleoperation before running follower bringup. The robot can move as soon as bringup starts.

ros2 launch open_manipulator_bringup omx_f_follower_ai.launch.py