Open UniBot50 opened 1 year ago
I have the same problem (slightly different setup - I used “hotfix-humble-tb3-omx” adapted to galactic ROS2 installation – works good for simulations, but for real Turtlebot3 Raspberry PI 4 with Open Manipulation I get exactly the same result )
I have solved the problem (a sort of), the issue seems to be with the opencr_baud_rate. it was set to 1000000 and I change it to 115200 (which was a value I found int turtlebot3 urdf model). And the robot starts . I can control the robot via MoveIt, the robot arm makes movement but NOT smoothly and the initial position is not proper one. Probably the baud rate should be tune better. Will try to improve it
Hey Imendyk, thanks for your reply. I solved the problem on my side by just doing a "sudo apt-get update" and a "sudo apt-get dist-upgrade" after all installations on the Raspberry. Afterwards the "ros2 launch turtlebot3_manipulation_bringup hardware.launch.py" started normally. But now I am still struggling with controlling the real OpenManipulator. Can you explain me how you controlled the arm? Like what commands did you use and did you control it via the RViz Gui? Or how did you use MoveIt?
Greetings
I have used MoveIt2 and rviz GUI with MotionPlanning\Planning plugin -so I could request the planning (for example "radom valid position" for "Goal state" - then "execute". But the effect is very jerked movements of the arm :(
To launch I used commands from https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#operate-the-actual-openmanipulator ("Foxy instructions")
ros2 launch turtlebot3_manipulation_moveit_config moveit_core.launch.py
It looks to me that the version for Ros2 is far from complete, for example I have notices in ompl_planning.yaml still having references to "panda_arm" which looks as copy-pased examples not yet adapted tu tb3 and OM so that is why I have asked for info about roadmap #57
Hello, I'm currently working with the Turtlebot3 in combination with the OpenMANIPULATOR-X and ROS2 foxy. I installed as per the e-manual. However, when I try to do ros2 launch, it doesn't work. I think it might be the ROS2 control manager. does anyone have a solution?