open_manipulator_tenaci

ROS Noetic package for interacting with the OpenManipulator-X Gazebo simulation. Mainly used as a helping tool for developing a low-level MATLAB robotic manipulation system based on the OpenManipulator-X robot.

Installing Dependencies

1. Install Ubuntu >= 20.04
2. Install ROS Noetic
3. Install OpenManipulator-X ROS packages (select Noetic version)
4. Clone this repository into the ROS Noetic workspace /src directory
5. Run catkin_make install from the ROS Noetic workspace

Usage

1. Open a new terminal and navigate to your ROS Noetic workspace
2. Run source devel/setup.bash from the ROS Noetic workspace (this must be repeated whenever opening a new terminal, could add to ~/.bashrc for convenience)
3. Launch Gazebo: roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
4. Start Gazebo using the play button (see docs for more info)
5. Run a ROS node from this (open_manipulator_tenaci) package, for example: rosrun open_manipulator_tenaci static_servo_angle_publisher.py where static_servo_angle_publisher.py should be replaced with the desired ROS node

Development

1. Add a new ROS node to open_manipulator_tenaci/scripts
2. Add a catkin_install_python(...) clause to CMakeLists.txt
3. Run catkin_make install from the ROS Noetic workspace (this must only be run once for Python nodes and after every change for C++ nodes)
4. The new ROS node is now ready to use

Available ROS nodes

• static_servo_angle_publisher.py
  • Publishes static angles in radians for each of the 5 servos to the relevant Gazebo topics. Also prints the corresponding tool pose using forward kinematics. Changing the published angles requires modifying the source code.
• static_tool_pose_follower.py
  • Publishes joint angles corresponding to a static pose. Uses analytical inverse kinematics. Also prints the corresponding tool pose using forward kinematics. Changing the pose requires modifying the source code.
• waypoint_follower.py
  • Follows a static sequence of waypoints. Changing the waypoints requires changing the source code.
• waypoint_follower_with_task_space_interpolation.py
  • Follows a static sequence of waypoints by first converting them into set points using cubic task space trajectories. Changing the waypoints requires changing the source code.