Connect MoveIt! with real robot (hardware)
Hi,
I am on Ubuntu 16.04 LTS and ROS Kinetic. I am trying to control a Robotis Manipulator-H with MoveIt! and I have been able to do it in Gazebo (using this links: https://github.com/AS4SR/general_info... and https://github.com/eYSIP-2017/eYSIP-2... ), so now I am trying to do that in the real robot. I have searched a lot on how to do this but I can't really find anything... I have tried the package "dynamixel_controllers" and the tutorial in this link:
https://github.com/eYSIP-2017/eYSIP-2...
To connect the manipulator with MoveIt! but I wasn't able to do it since this tutorials uses the package "dynamixel_controllers" and it only works with Dynamixel motors and not Dynamixel PRO motors (which are the ones used bu the Manipulator-H). I also found out that I need an action server and a client server (or something like that) but since I am a newbie, I don't know how this properly works... can you guys give me any advices on how to connect the manipulator? I think this topic is a lot under documented...
Other packages that I tried but with no success: "dynamixel_workcbench" and "open_manipulator".
Thanks!, José Brito
Hi Jose, Are you able to solve this issue to connect MoveIt to real Manipulator-H arm? Now, I have same problem here, but don't know how to solve. I would like to know your current situation. Thanks.
Hi Jose, did u solved the problem. I'm also facing same problem but i'm using hubby HS422 servo motor, can i use dynamixel_controllers pkg for move it interface? I tried that but it is not working. Please help me..
Hello @idrobot and @Ravi_Kanth, yes I kinda solved the problem by adapting myself the packages from the implemented Robotis Open Manipulator. I did this by commenting the parts of the code where grips where mentioned and by adding the joints of the Robotis Manipulator-H to the following packages:
All in kinetic devel: - open_manipulator_description - open_manipulator_dynamixel_ctrl - open_manipulator_moveit - open_manipulator_msgs - open_manipulator_position_ctrl
Keep in mind that there are functions for Gazebo with parts that I didn't know hot to erase or change
I simply ignored them since I didn't need to used them! :)
To use, simply connect the manipulator to the PC via USB and type the following: - FIRST TERMINAL: $ sudo chmod a+rw /dev/ttyUSB0 $ roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch - SECOND TERMINAL: $ roslaunch open_manipulator_moveit open_manipulator_demo.launch
I had a problem still. Open manipulator has 4 joints, while the Manipulator-H has 6. The 5th and 6th joints were being read with a small offset error and I don't know why... luckily, I had another package (confidential) previously developed to read the joint values, so I used it and I now I am good!
Still I don't know how you would solve this problem, if you'd ever face it... one more thing, with this program you can only "plan and execute" and not "plan" and then "execute". This is because of the way the packages is developed, please see the link in me following comment