Operation Execution

Teleoperation

After accessing the Docker container, use the following command:

ros2 launch open_manipulator_bringup omx_ai.launch.py

This command will sequentially execute the following procedures:

1. Move to Follower's initial position
2. Start Leader launch file
3. Synchronize Leader and Follower

After these steps, the Leader-Follower system will be operational.

Real-time synchronized motion between Leader and Follower.

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INFO

The basic commands in this manual are written for OMX_F. Example:

ros2 launch open_manipulator_bringup omx_f.launch.py

Launch Bringup

The OMX controller has been restructured to utilize the ros2_control framework and MoveIt 2 for enhanced flexibility, modularity, and usability. This updated controller allows for seamless integration with ROS 2-based systems, offering advanced features such as trajectory planning, real-time control, and state feedback.

Open a new OM Container and launch the OMX packages.

 ros2 launch open_manipulator_bringup omx_f.launch.py

MoveIt 2

MoveIt 2 is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking.

Launching MoveIt 2

Enable MoveIt 2 functionality for advanced motion planning in RViz. For more information about MoveIt 2, check out the official documentation.

 ros2 launch open_manipulator_moveit_config omx_f_moveit.launch.py

Move interactive markers to position the robotic arm, then click Plan and Execute.

Simple Instructions for Using MOVEIT 2:

1. You can move the robot to your desired pose using the Interactive Marker visible in RViz.
2. Use the Plan option in the Commands column to simulate the motion of the robotic arm.
3. Click Execute to move the robot according to the simulated motion.
4. Set the Planning Group to arm and use the Goal State options init or home to move the robot to predefined poses.
5. Change the Planning Group to gripper and use Goal State options such as close or open to open and close the gripper.