[ROS 2] Manipulator Manager

info

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...

info

NOTE: If you have a gripper(RH-P12-RN(A)), download the source code of RH-P12-RN from GitHub and integrate the gripper module following the RH-P12-RN repository instructions.

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

• JointPose.msg
  • name : target joint name (std_msgs/String)
  • value : target joint value (std_msgs/Float64)
• KinematicsPose.msg
  • name : target kinematics group (std_msgs/String)
  • pose : target Pose (geometry_msgs/Pose)

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

• GetJointPose.srv
  • Request : joint_name : joint name (std_msgs/String)
  • Response : joint_value : joint value (std_msgs/Float64)
• GetKinematicsPose.srv
  • Request : group_name : kinematics group (std_msgs/String)
  • Response : group_pose : kinematics pose (geometry_msgs/Pose)

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