OpenMANIPULATOR-X

 TurtleBot3和OpenMANIPULATOR组合

 

依赖

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

为OpenMANIPULATOR-X安装相关的软件包。 在终端窗口中运行以下命令。

sudo apt-get install ros-kinetic-gazebo* 
sudo apt-get install ros-kinetic-moveit*

sudo apt-get install ros-kinetic-industrial-core
sudo apt-get install ros-kinetic-dynamixel-sdk
sudo apt-get install ros-kinetic-ros-controllers
sudo apt-get install ros-kinetic-qt-build
sudo apt-get install ros-kinetic-robotis-math

　 

 软件设置

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
cd ~/catkin_ws && catkin_make

　

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git
cd ~/catkin_ws && catkin_make

启动

[Remote PC]

 roscore

　　

export TURTLEBOT3_MODEL=waffle_pi

 [TurtleBot3 SBC]

roslaunch turtlebot3_bringup turtlebot3_robot.launch

[Remote PC]

roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

　

roslaunch turtlebot3_manipulation_moveit_config move_group.launch

roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch

　

 [TurtleBot3 SBC]

仿真

[远程PC]使用以下命令将进入带有TurtleBot3_OpenMANIPULATOR仿真模型Gazebo仿真环境。

roslaunch turtlebot3_manipulation_gazebo turtlebot3_manipulation_gazebo.launch

　　

 roslaunch turtlebot3_manipulation_moveit_config move_group.launch

　　

Rviz

roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch

SBC

export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=om_with_tb3
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 
tar -xvf opencr_update.tar.bz2 
cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd ..

　　

roscore

　　

roslaunch turtlebot3_bringup turtlebot3_robot.launch

[Remote PC] 

roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

　

 roslaunch turtlebot3_manipulation_moveit_config move_group.launch

　　

roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch

　　

 roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch

　　

导航

 roslaunch turtlebot3_manipulation_navigation navigation.launch

　　

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml