Open Manipulator Controller does not come up when using OpenCR

[edcepp]

Environment

Ubuntu 18.04, OpenCR running usb_to_dxl

Test

$ export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1

$ ros2 run open_manipulator_x_controller open_manipulator_x_controller 
port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
[INFO] [open_manipulator_x_controller]: Ready to Simulate OpenManipulator-X on Gazebo

The OpenCR is on /dev/ttyACM0. So I entered

$ ros2 run open_manipulator_x_controller open_manipulator_x_controller /dev/ttyACM0 1000000
port_name and baud_rate are set to /dev/ttyACM0, 1000000 
[INFO] [open_manipulator_x_controller]: Ready to Simulate OpenManipulator-X on Gazebo

Problem

The servos do not resist being turned. Teleop keyboard does not control the servos.

Question 1

How do I start up the Open Manipulator Controller?

Setup Verification

• Dynamixel Wizard2 runs fine under OpenCR and finds all 5 servos during its scan
• Teleop keyboard runs properly under U2D2. It controls all 5 servos.

Question 2

Once I get the controller going how do I start up teleop keyboard? This is what I tried.

$ export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_keyboard

and

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_keyboard /dev/ttyACM0 1000000

[ROBOTIS-Will]

@edcepp Thank you for reporting the issue. Please make sure that you are not running with simulation settings; for example, in the open_manipulator_x_controller.cppfile, line 72 defines simulation(gazebo) init. This is by default set to false.

this->get_parameter_or<bool>("sim", sim_, false);

I've revised the eManual instructions so that it can properly be launched. Please see below test result that I ran on my Linux Mint(Ubuntu 18.04 base), ROS2 Dashing with the most up to date github source codes.

We are currently working on reviewing and modifying OpenMANIPULATOR-X and TurtleBot3 source code and eManual contents, and hope we can make our documentations easier to follow. Always appreciate your feedback and error reports.

[edcepp]

Thanks you. You gave me the clue I needed. This is what I did:

Retest $ ros2 run open_manipulator_x_controller open_manipulator_x_controller /dev/ttyACM0 1000000 port_name and baud_rate are set to /dev/ttyACM0, 1000000 [INFO] [open_manipulator_x_controller]: Ready to Simulate OpenManipulator-X on Gazebo

The Gazebo reference tells me I’m in simulation (not hardware) mode. I check the parameters. $ ros2 param list /open_manipulator_x_controller: control_period use_platform use_sim_time

I check to see what the value of the use_platform parameter should be. Notice the parameter name is not “sim” $ cat src/open_manipulator/open_manipulator_x_controller/param/open_manipulator_x_controller_params.yaml open_manipulator_x_controller: ros__parameters: use_platform: true control_period: 0.010

I check to see what the value of the use_platform parameter is. $ ros2 param get /open_manipulator_x_controller use_platform Parameter not set.

This is a problem. There is something wrong with parameters. I edit the code to force the use_platform to true. $ diff open_manipulator_x_controller.cpp.org open_manipulator_x_controller.cpp 72c72 < this->get_parameter_or("use_platform", useplatform, false);

this->get_parameter_or("use_platform", useplatform, true);

I rebuild $ colcon build --symlink-install

Rerun $ ros2 run open_manipulator_x_controller open_manipulator_x_controller /dev/ttyACM0 1000000 port_name and baud_rate are set to /dev/ttyACM0, 1000000 Joint Dynamixel ID : 11, Model Name : XM430-W350 Joint Dynamixel ID : 12, Model Name : XM430-W350 Joint Dynamixel ID : 13, Model Name : XL430-W250 Joint Dynamixel ID : 14, Model Name : XL430-W250 Gripper Dynamixel ID : 15, Model Name :XL430-W250 [ERROR] [DynamixelWorkbench] Failed to set Current Based Position Control Mode! [INFO] [open_manipulator_x_controller]: Succeeded to Initialise OpenManipulator-X Controller

It starts up as expected. (The ERROR is because I installed an XL servo and not an XM. This is not a fatal error.)

To test I run keyboard teleop in terminal 2. It works as expected. I am able to control the manipulator controlled with an OpenCR. $ export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop_keyboard

On Jun 28, 2020, at 10:24 PM, Will Son notifications@github.com wrote:

@edcepp https://github.com/edcepp Thank you for reporting the issue. Please make sure that you are not running with simulation settings; for example, in the open_manipulator_x_controller.cppfile, line 72 defines simulation(gazebo) init. This is by default set to false.

this->get_parameteror("sim", sim, false); I've revised the eManual instructions https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros2_controller_package/#launch-controller so that it can properly be launched. Please see below test result that I ran on my Linux Mint(Ubuntu 18.04 base), ROS2 Dashing with the most up to date github source codes. https://user-images.githubusercontent.com/26239359/85974386-49493900-ba10-11ea-804d-a284968e00c3.png https://user-images.githubusercontent.com/26239359/85974499-93321f00-ba10-11ea-9df3-adc78e9027f8.png https://user-images.githubusercontent.com/26239359/85974561-c2e12700-ba10-11ea-8507-677221a8da3a.png https://user-images.githubusercontent.com/26239359/85974586-d2f90680-ba10-11ea-8a0f-10ae2f2e87d5.png We are currently working on reviewing and modifying OpenMANIPULATOR-X and TurtleBot3 source code and eManual contents, and hope we can make our documentations easier to follow. Always appreciate your feedback and error reports.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/open_manipulator/issues/177#issuecomment-650912363, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEFMDQ5PZ4DRPXRSP5RJZT3RZAQSJANCNFSM4N4U3O6Q.

[ROBOTIS-Will]

@edcepp Thank you for sharing your result. The use_platform parameter had been renamed to sim in the most recent source code, but you made the correct modification. We are currently discussing our manual format that will be easier to follow for the first time users. I hope it can be distributed within a couple weeks. Thank you very much for your valuable feedback.

[ROBOTIS-Will]

Closing this issue as there isn't any recent activity. Please feel free to reopen when necessary.