om_moveit_examples

Example code for using MoveIt! 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 joint_trajectory_controller.launch from USB0 to ACM0.

Codes

execute_trajectory.py

This code will use MoveIt to execute a pre-planned routine. In the attached YouTube video, it can be seen that this code will pick up a cube, then replace the cube.

get_data.py

This code will display various information about the MoveIt setup that is running.

testing_effort.py

Work in progress.

YouTube Links

The following links will provide video of the Open Manipulator-X being used in both hardware and simulation using MoveIt!

Open Manipulator-X. ROS. MoveIt! Implementation on physical hardware.

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

Open Manipulator-X. ROS. MoveIt! Gazebo Simulation.

https://www.youtube.com/watch?v=TV_2RlyWlSc&t=19s

Execution

Running on Real Open Manipulator-X

roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=false
rosrun om_moveit_examples execute_trajectory.py