Installation et démarrage du OpenManipulator-X & Turtlebot 3

Suivre d'abord https://innovation.iha.unistra.fr/books/robotique-open-source/page/installation-et-demarrage-du-turtlebot-3 

Montage et Configuration des Dynamixels

https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html

Pour l'Open-Manipulator

Configurer les dynamixel (baud et ID 11 à 15) https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html#arm-first-time :

Pour le Turtlebot

Via Arduino IDE ou DynamixelWizard en s'inspirant de : https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#setup-dynamixels-for-turtlebot3

Test depuis un PC sans la raspberry

Téléopération du OpenManipulator-X seul

Suivre le tutoriel Foxy en remplaçant foxy par humble et foxy-devel par ros2 en utilisant l'interface de communication OpenCR : https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/

Pour tester le bon fonctionnement du bras et de sa pince, on connecte la carte OpenCR directement à un PC ayant ROS Humble préinstallé :

sudo apt install ros-humble-rqt* ros-humble-joint-state-publisher
mkdir -p ~/openmanipulator_ws/src/
cd ~/openmanipulator_ws/src/
git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/robotis_manipulator.git
cd ~/openmanipulator_ws && colcon build --symlink-install

image.png

Programmation hors-ligne du OpenManipulator-X et TurtleBot3 depuis MoveIt

On suit le tutoriel https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#operate-the-actual-openmanipulator en installant tout ce qui est censé être installé sur le raspberry [SBC]/[TurtleBot3] sur le PC [Remote PC].

sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit
cd ~/turtlebot3_ws/src/
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git
cd ~/turtlebot3_ws && colcon build --symlink-install
export ROS_DOMAIN_ID=30 #TURTLEBOT3
export LDS_MODEL=LDS-02
export TURTLEBOT3_MODEL=waffle_pi
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=turtlebot3_manipulation
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xvf opencr_update.tar.bz2
cd ./opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

Configuration OpenCR

Pour le Turtlebot : https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup

Pour l'OpenManipulator-X : https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#opencr-setup

Dépendances manquantes :

sudo apt install ros-humble-hardware-interface
ros-humble-ros2-control ?
ros-humble-joint-state-publisher ?

Dépendances manquantes côté Raspberry : 

sudo apt install rros-humble-gripper-controllers ros-humble-xacro

Dépendances manquantes côté PC : 

sudo apt install ros-humble-moveit-servo

Issues :

https://forum.robotis.com/t/ros-2-foxy-openxmanuipaltor-bringup-issues/2142/9

https://github.com/ROBOTIS-GIT/open_manipulator/issues/212

https://github.com/ROBOTIS-GIT/open_manipulator/issues/209

https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html#arm-first-time

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Auteur: Gauthier Hentz, sur le wiki de l'innovation de l'IUT de Haguenau

 Attribution-NonCommercial-PartageMemeConditions 4.0 International (CC BY-NC-SA 4.0) 


Revision #27
Created 5 July 2023 09:25:07 by admin_idf
Updated 15 January 2025 14:53:45 by admin_idf