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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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Connection to openmanipulator-X through raspberry pi #204

Closed suyunas closed 3 years ago

suyunas commented 3 years ago

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_controller_package/

Screenshot from 2021-04-08 13-51-27 after running the 2nd command on PC i am having the following errors. Note that when i am using manipulator connected to the PC using a USB cable then it works perfectly but when attached it through raspberry pi 3 on turtlebot3, it gives the error stated below: Screenshot from 2021-04-08 13-53-14

How can i connect to openmanipulator-X through raspberry pi on tb3 and not directly through opencr using usb cable? can somebody list the set of commands for pc and turtlebot3?

ROBOTIS-Will commented 3 years ago

Hi, @suyunas If you have connected OpenMANIPULATOR-X directly to Raspberry Pi via U2D2, you should change the device port. Since /dev/ttyACM0 is assigned to OpenCR and /dev/ttyUSB0 is assigned to LDS 1.5, most likely, your U2D2 should have assigned to /dev/ttyUSB1. Please modify the OpenMANIPULATOR code to connect via assigned port.

suyunas commented 3 years ago

i am not using U2D2. It seems that U2D2 is required to run the manipulator to establish a remote connection. Is there anyways i can control manipulator using the following strategy:

Remote PC--->RPi----->OpenCR---->Manipulator X???

Just like we control the turtlebot with two dynamixels remotely Remote PC--->RPi----->OpenCR---->Dynamixels using the following commands: PC: roscore tb: roslaunch turtlebot3_bringup turtlebot3_robot.launch PC: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

ROBOTIS-Will commented 3 years ago

Have you read this TurtleBot3 Manipulation eManual before? https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation

suyunas commented 3 years ago

yes i checked the emanual. Apparently the drawing and option tabs are available on the gui called for openmanipulator-X connected through openCR only as shown in figure below:

test

These tabs are not available on the gui called for openmanipulator-X connected through turtlebot3, 13 i am using the later setup.

ROBOTIS-Will commented 3 years ago

Both GUI software works in the same way. You just need to send a proper topic so from your PC to control the OpenMANIPULATOR. Since all hardware in ROS1 are connected in the same network, you don't necessarily have to deliver the topic from PC to RPi to OpenCR.

suyunas commented 3 years ago

Basically i was trying to explore different options for the project. I will look into other ways for calling those functionalities.