om_service_call_examples

Example code for using ROS service calls with Open Manipulator-X

This package is designed to provide some example code to help getting started using the Open Manipulator-X with ROS and Gazebo. All coding is done in Python.

System Setup

Hardware

Intel NUC, OpenCR development board and Open Manipulator-X with XM430-W350-t motors

Software

• Intel Nuc is running Ubuntu 16.04 LTS
• Have installed all ROS packages as stated in Open Manipulator-X eManual
• OpenCR is running usb_to_dxl
• Dynamixel motors setup as per Open Manipulator-X eManual

Note
If using OpenCR, USB port address may need to be changed in open_manipulator_controller.launch from USB0 to ACM0.

Codes

single_movement.py

This code will call the /goal_joint_space_path service and use it to make the Open Manipulator-X perfrom 1 movement.

multiple_movements.py

This code functions the same as single_movement.py, except it will perform multiple movements (3 instead of 1)

gripper_movement.py

This code will call the /goal_tool_control service and use it to control the position of the gripper.

YouTube Links

The following links will provide video of the Open Manipulator-X being used in both hardware and simulation using service calls and the open_manipulator_controller package.

Open Manipulator-X. ROS. Service Calls. Implementation on physical hardware.

https://www.youtube.com/watch?v=8JTLWg_CjYg

Open Manipulator-X. ROS. Gazebo. Service Calls. Example implementation.

https://www.youtube.com/watch?v=IuSqCRb4uYA&t=36s

Execution

Simulation with Gazebo

roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false
roslaunch open_manipulastor_gazebo open_manipulator_gazebo.launch
rosrun om_service_call_examples single_movement.py

Additional Commands
roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch
rosservice call /controller_manager/list_controllers [TAB]+[TAB]

Running on Real Open Manipulator-X

roslaunch open_manipulator_controller open_manipulator_controller.launch
rosrun om_service_call_examples single_movement.py