Setup Guide — ROS 2 (Physical AI Tools)
Overview
This guide shows how to set up and operate OMX using Physical AI Tools (Web UI). Follow the steps to prepare repositories, configure Docker, and run the teleoperation node.
Set up Open Manipulator Docker Container
1. Start the Docker Container:
Clone the repository:
USER PC
git clone https://github.com/ROBOTIS-GIT/open_manipulatorStart the container with the following command:
cd open_manipulator/docker && ./container.sh start2. Set up launch file port
Enter the Open Manipulator Docker container:
USER PC
./container.sh enterINFO
First, connect only the 'Leader' USB to the port, then check and copy the OpenRB serial ID.
USER PC or USER PC 🐋 OPEN MANIPULATOR
ls -al /dev/serial/by-id/
As shown in the image below, paste the serial ID you noted above into the port name parameter for the [leader] then save.
USER PC 🐋 OPEN MANIPULATOR
sudo nano ~/ros2_ws/src/open_manipulator/open_manipulator_bringup/launch/omx_l_leader_ai.launch.py
INFO
Second, connect only the 'Follower' USB to the port, then check and copy the OpenRB serial ID.
USER PC or USER PC 🐋 OPEN MANIPULATOR
ls -al /dev/serial/by-id/
As shown in the image below, paste the serial ID you noted above into the port name parameter for the [follower], then save.
USER PC 🐋 OPEN MANIPULATOR
sudo nano ~/ros2_ws/src/open_manipulator/open_manipulator_bringup/launch/omx_f_follower_ai.launch.py🎉 Open Manipulator Container Setup Complete!
Please exit the Docker container and return to your host terminal for the next steps.
Set up Physical AI Tools Docker Container
1. Start the Docker container
Clone the repository along with all required submodules:
USER PC
git clone --recurse-submodules https://github.com/ROBOTIS-GIT/physical_ai_tools.gitStart the Physical AI Tools Docker container with the following command:
cd physical_ai_tools/docker && ./container.sh start🎉 Physical AI Tools Container Setup Complete!
Click the button below to start Imitation Learning.