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Applications

Master and Slave​

warning

Not supported

Setup OpenMANIPULATOR-X​

Since you need to control two OpenManipulators on one PC, use two U2D2s and two OpenManipulators to connect as shown below.

Master OpenMANIPULATOR-X​

Master OpenMANIPULATOR-X is a robot that is controlled by the user. This is easy to move because no torque is applied to dynamixel. DYNAMIXEL of master OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps.

NameDYNAMIXEL ID
Joint 121
Joint 222
Joint 323
Joint 424
Gripper25

Slave OpenMANIPULATOR-X​

Slave OpenMANIPULATOR-X moves synchronously with Master OpenMANIPULATOR. DYNAMIXEL of slave OpenMANIPULATOR-X sets the ID as below and the baudrate as 1,000,000 bps. This is the same as the default OpenMANIPULATOR-X setting.

NameDYNAMIXEL ID
Joint 111
Joint 212
Joint 313
Joint 414
Gripper15

Install Package​

Run the following command in a terminal window.

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ cd ~/catkin_ws && catkin_make

If the catkin_make command has been completed without any errors, all the preparations are done.

Execute Example​

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WARNING :
Please check each joint position before running OpenMANIPULATOR-X.
The manipulator will not operate if any joint is out of operable range.
The following image describes the recommended pose of OpenMANIPULATOR-X at start up.
Please adjust the pose before the torque is turned on by the controller.

  1. Open a new terminal and enter the following command to run the controller for the Slave OpenMANIPULATOR-X.
    The dynamixel_usb_port is a parameter that sets the port of the slave OpenMANIPULATOR-X.
    Please check your OS and use the appropriate usb port assigned to the U2D2.
$ roslaunch open_manipulator_controller open_manipulator_controller.launch dynamixel_usb_port:=/dev/ttyUSB0

  1. If the slave OpenMANIPULATOR-X controller is launched successfully, the terminal will print the following message.

    SUMMARY
    ========

    PARAMETERS
    * /open_manipulator_controller/control_period: 0.01
    * /open_manipulator_controller/using_platform: True
    * /rosdistro: noetic
    * /rosversion: 1.15.9

    NODES
      /
        open_manipulator_controller (open_manipulator_controller/open_manipulator_controller)

    auto-starting new master
    process[master]: started with pid [2049]
    ROS_MASTER_URI=http://localhost:11311

    setting /run_id to 60ac9f42-fa5b-11eb-a3d8-ef395547902c
    process[rosout-1]: started with pid [2059]
    started core service [/rosout]
    process[open_manipulator_controller-2]: started with pid [2062]
    port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
    Joint Dynamixel ID : 11, Model Name : XM430-W350
    Joint Dynamixel ID : 12, Model Name : XM430-W350
    Joint Dynamixel ID : 13, Model Name : XM430-W350
    Joint Dynamixel ID : 14, Model Name : XM430-W350
    Gripper Dynamixel ID : 15, Model Name :XM430-W350
    [INFO] Succeeded to init /open_manipulator_controller

  2. Open another terminal and enter the following command to run the Master OpenMANIPULATOR-X controller.
    The usb_port is a parameter that sets the port of the master OpenMANIPULATOR-X.
    Please check your OS and use the appropriate serial port assigned to the U2D2.

$ roslaunch open_manipulator_master_slave open_manipulator_master.launch usb_port:=/dev/ttyUSB1

  1. If the master OpenMANIPULATOR-X controller has been launched successfully, the terminal will print the following message.

    SUMMARY
    ========

    PARAMETERS
    * /open_manipulator/open_manipulator_master/gripper_id: 25
    * /open_manipulator/open_manipulator_master/joint1_id: 21
    * /open_manipulator/open_manipulator_master/joint2_id: 22
    * /open_manipulator/open_manipulator_master/joint3_id: 23
    * /open_manipulator/open_manipulator_master/joint4_id: 24
    * /open_manipulator/open_manipulator_master/service_call_period: 0.01
    * /rosdistro: noetic
    * /rosversion: 1.15.9

    NODES
    /open_manipulator/
        open_manipulator_master (open_manipulator_master_slave/open_manipulator_master)

    ROS_MASTER_URI=http://localhost:11311

    process[open_manipulator/open_manipulator_master-1]: started with pid [32026]
    Joint Dynamixel ID : 21, Model Name : XM430-W350
    Joint Dynamixel ID : 22, Model Name : XM430-W350
    Joint Dynamixel ID : 23, Model Name : XM430-W350
    Joint Dynamixel ID : 24, Model Name : XM430-W350
    Gripper Dynamixel ID : 25, Model Name :XM430-W350

  2. The following message will appear in the terminal. Current control mode and robot status(joint angle, tool position) will be updated.

    -----------------------------
    Control Your OpenMANIPULATOR!
    -----------------------------
    Present Control Mode
    Master - Slave Mode
    -----------------------------
    1 : Master - Slave Mode
    2 : Start Recording Trajectory
    3 : Stop Recording Trajectory
    4 : Play Recorded Trajectory
    -----------------------------
    Present Joint Angle J1: -0.170 J2: 0.367 J3: -0.046 J4: 0.959
    Present Tool Position: 0.000
    -----------------------------

  3. Four control modes are available. Please select and enter the number in the terminal.

    • 1 : Master-Slave Mode
      • Master robot and slave robot move synchronously.
    • 2 : Start Recording Trajectory
      • Master robot and slave robot move synchronously and the controller records the moving trajectory.
    • 3 : Stop Recording Trajectory
      • Ends the recording.
    • 4 : Play Recorded Trajectory
      • The trajectory recorded in the 2nd mode is reproduced only by the slave robot.

OpenCR Teaching​

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This controller is not compatible with ROS, but runs on the OpenCR as a standalone controller.

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