🦾 OpenMANIPULATOR

Overview

This repository provides an integrated management package for ROBOTIS robotic arms, including:

• OMY
• OpenMANIPULATOR-X
• Leader-Follower Manipulator System

With this integration, all Robotis manipulators are managed under a unified package to ensure better compatibility and functionality.

Key Features

This package supports ROS 2 Jazzy and Gazebo Harmonic on Ubuntu 24.04, offering the following functionalities:

• Integration of MoveIt 2 for Enhanced Motion Planning
• Graphical User Interface (GUI) Implementation and Support
• Teleoperation (Teleop) Capabilities
• Leader-Follower Control Mechanism with Gravity Compensation for Imitation Learning

OpenMANIPULATOR User Guide

1. Introduction

The OMY is a 6-DOF robotic arm designed for advanced robotic manipulation tasks. This ROS 2 package provides seamless integration, enhanced control, and versatile functionality for simulation and hardware applications.

2. Installation Methods

You can choose between two installation methods:

Option 1: Using Docker (Recommended)

This method provides an isolated environment with all dependencies pre-installed.

1. Install Docker and Docker Compose Follow the official Docker installation guide: Install Docker Engine

2. Clone the Repository

   git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
   cd open_manipulator

3. Container Management The repository includes a container management script with the following commands:

   # Show help
   ./docker/container.sh help
   
   # Start container
   ./docker/container.sh start
   
   # Enter the running container
   ./docker/container.sh enter
   
   # Stop and remove the container
   ./docker/container.sh stop

   [Note] When stopping the container, you'll be asked for confirmation as this will remove all unsaved data in the container.

4. Data Persistence The container maps the following directories for data persistence:

   • ./docker/workspace:/workspace - The workspace directory inside the docker folder is mapped to /workspace inside the container

   [Important] Data Persistence Rules:

   • Data in /workspace inside the container is saved to docker/workspace on your host
   • Container restart (using docker restart) maintains all data
   • Container removal (using container.sh stop) will remove all data except what's in the mapped /workspace directory
   • Always save your work in the /workspace directory to ensure it persists after container removal

Option 2: Host Installation

Follow these steps if you prefer to install directly on your host system:

1. Prerequisites

   • Supported ROS Version This package is compatible only with ROS 2 Jazzy. Ensure that ROS 2 Jazzy is properly installed.

   • USB Port Permissions To enable communication with the hardware, add your user to the dialout group:

     sudo usermod -aG dialout $USER

     A login and logout are required.

2. Install Intel RealSense ROS Wrapper

   Please follow the official instructions for installing and using the RealSense ROS wrapper at:

   • https://github.com/IntelRealSense/realsense-ros

   This will ensure you have the latest and most compatible version for your system and camera.

3. Clone the Repository

   cd ~/ros2_ws/src
   git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
   git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
   git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git && \
   git clone -b jazzy https://github.com/ROBOTIS-GIT/open_manipulator.git

4. Install ROS 2 Dependencies

   cd ~/ros2_ws
   rosdep update
   rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys="librealsense2 dynamixel_hardware_interface dynamixel_interfaces dynamixel_sdk open_manipulator" -y

5. Build the Package

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

6. Source the Workspace

   source ~/ros2_ws/install/setup.bash

7. (Optional) Add Convenience Alias Add the following to your ~/.bashrc for a convenient build alias:

   echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc
   source ~/.bashrc

8. Create and apply udev rules

   ros2 run open_manipulator_bringup om_create_udev_rules

3. Launch Files Overview

Below is a comprehensive list of available launch files, grouped by function. Use these to start the system in various modes, simulations, or with special features.

A. Hardware Launch (Real Robot)

# Launch OMY 3M hardware
ros2 launch open_manipulator_bringup omy_3m.launch.py

# Launch OMY F3M hardware
ros2 launch open_manipulator_bringup omy_f3m.launch.py

# Launch OpenMANIPULATOR-X hardware
ros2 launch open_manipulator_bringup omx.launch.py

# Launch F3M follower for AI leader-follower mode
ros2 launch open_manipulator_bringup omy_f3m_follower_ai.launch.py

# Launch L100 as leader for AI leader-follower mode
ros2 launch open_manipulator_bringup omy_l100_leader_ai.launch.py

# Launch the full AI teleoperation leader-follower stack (runs both leader and follower)
ros2 launch open_manipulator_bringup omy_ai.launch.py

B. Simulation (Gazebo)

# Simulate OMY 3M in Gazebo
ros2 launch open_manipulator_bringup omy_3m_gazebo.launch.py

# Simulate OMY F3M in Gazebo
ros2 launch open_manipulator_bringup omy_f3m_gazebo.launch.py

# Simulate OpenMANIPULATOR-X in Gazebo
ros2 launch open_manipulator_bringup omx_gazebo.launch.py

# Simulate F3M follower in AI mode in Gazebo
ros2 launch open_manipulator_bringup omy_f3m_follower_ai_gazebo.launch.py

C. Specialized/Utility Launch

# Packs the OMY 3M manipulator (can also be used for OMY F3M)
ros2 launch open_manipulator_bringup omy_3m_pack.launch.py

# Unpacks the OMY 3M manipulator (can also be used for OMY F3M)
ros2 launch open_manipulator_bringup omy_3m_unpack.launch.py

# Launch Intel RealSense camera nodes
ros2 launch open_manipulator_bringup camera_realsense.launch.py

D. GUI Launch

# GUI for OMY 3M
ros2 launch open_manipulator_gui omy_3m_gui.launch.py

# GUI for OMY F3M
ros2 launch open_manipulator_gui omy_f3m_gui.launch.py

# GUI for OpenMANIPULATOR-X
ros2 launch open_manipulator_gui omx_gui.launch.py

E. MoveIt! Launch

# MoveIt! for OMY 3M
ros2 launch open_manipulator_moveit_config omy_3m_moveit.launch.py

# MoveIt! for OMY F3M
ros2 launch open_manipulator_moveit_config omy_f3m_moveit.launch.py

# MoveIt! for OpenMANIPULATOR-X
ros2 launch open_manipulator_moveit_config omx_moveit.launch.py

F. Description Launch

# Load robot description for OMY 3M
ros2 launch open_manipulator_description omy_3m.launch.py

# Load robot description for OMY F3M
ros2 launch open_manipulator_description omy_f3m.launch.py

# Load robot description for OMY L100
ros2 launch open_manipulator_description omy_l100.launch.py

# Load robot description for OpenMANIPULATOR-X
ros2 launch open_manipulator_description omx.launch.py

---

Mode Clarification

• Hardware Mode: For real robot operation, use the hardware launch files from section A.
• Simulation Mode: For Gazebo simulation, use the launch files from section B.
• AI Leader-Follower Mode: Use omy_ai.launch.py to start both leader and follower, or launch omy_f3m_follower_ai.launch.py and omy_l100_leader_ai.launch.py separately for advanced setups.
• Specialized Modes: Use pack/unpack launch files for special poses, and camera launch for vision integration.

(Legacy) ROBOTIS e-Manual for OpenMANIPULATOR-X

• ROBOTIS e-Manual

The OpenMANIPULATOR-X operation method is similar to OMY, and the e-Manual is currently being updated.