robotis-git / open_manipulator_controls

OpenMANIPULATOR Controls

OpenMANIPULATOR Controls

How to Run

(MoveGroup + JointTrajectoryController)
# Gazebo Simulation
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch

# Real Robot
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=false

(GravityCompensationController)
# Gazebo Simulation
# Set trasmission to effort and motor mode to current first
$ roslaunch open_manipulator_controllers gravity_compensation_controller.launch 

# Real Robot
$ roslaunch open_manipulator_controllers gravity_compensation_controller.launch sim:=false

open_manipulator_controls's Issues

Build errors

hello,
I am currently using this package as a reference for an arm that I am trying to get up and running.
When building a modified version of this package, I get an error:

Errors     << cr_dynamixel:make                                                                                                       
... hardware_interface.cpp: In member function ‘void open_manipulator_hw::HardwareInterface::write()’:
... hardware_interface.cpp:453:143: error: no matching function for call to ‘DynamixelWorkbench::convertCurrent2Value(uint8_t, double)’
       dynamixel_effort[id_cnt] = dxl_wb_->convertCurrent2Value((uint8_t)dxl.second, joints_[(uint8_t)dxl.second-1].effort_command / (1.78e-03));
                                                                                                                                               ^
In file included from /... hardware_interface.h:31:0,
                 from ... hardware_interface.cpp:19:
/opt/ros/melodic/include/dynamixel_workbench_toolbox/dynamixel_workbench.h:89:11: note: candidate: int16_t DynamixelWorkbench::convertCurrent2Value(float)
   int16_t convertCurrent2Value(float current);
           ^~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/dynamixel_workbench_toolbox/dynamixel_workbench.h:89:11: note:   candidate expects 1 argument, 2 provided
make[2]: *** [CMakeFiles/control_node.dir/src/hardware_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/control_node.dir/all] Error 2
make: *** [all] Error 2

It seems to me that if you try to compile this package after a catkin clean, you should have the same error.
Can you please confirm if you can build this package from clean?

Gravity feedback to dynamixel

In gravity compensation example, the robot can not be operated by open_manipulator_control_gui. I want to give the gravity feedback to dynamixel. Due to the special assemble position of the robot, the gravity can lead to the position error. Would you mind providing some suggestions? Thank you.

What's the difference between this and the "open_manipulator" repo?

other than the structural changes from the open_manipulator_controller, are there other changes in functionalities?

make error

I execute the following 3 statements:

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/open_manipulator_controls.git
cd ~/catkin_ws && catkin_make

Output the following error:

...@ubuntu16-robotics:~/catkin_ws$` cd ~/catkin_ws && catkin_make
Base path: /home/.../catkin_ws
Source space: /home/.../catkin_ws/src
Build space: /home/.../catkin_ws/build
Devel space: /home/.../catkin_ws/devel
Install space: /home/.../catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/.../catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/.../catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/.../catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 17 packages in topological order:
-- ~~  - open_manipulator_controls (metapackage)
-- ~~  - open_manipulator_moveit_config
-- ~~  - open_manipulator_simulations (metapackage)
-- ~~  - turtlebot3 (metapackage)
-- ~~  - turtlebot3_msgs
-- ~~  - turtlebot3_navigation
-- ~~  - dynamixel_sdk
-- ~~  - robotis_manipulator
-- ~~  - open_manipulator_hw
-- ~~  - roboticsgroup_gazebo_plugins
-- ~~  - turtlebot3_bringup
-- ~~  - turtlebot3_example
-- ~~  - turtlebot3_slam
-- ~~  - turtlebot3_teleop
-- ~~  - open_manipulator_controllers
-- ~~  - open_manipulator_gazebo
-- ~~  - turtlebot3_description
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'open_manipulator_controls'
-- ==> add_subdirectory(open_manipulator_controls/open_manipulator_controls)
-- +++ processing catkin package: 'open_manipulator_moveit_config'
-- ==> add_subdirectory(open_manipulator_controls/open_manipulator_moveit_config)
-- +++ processing catkin metapackage: 'open_manipulator_simulations'
-- ==> add_subdirectory(open_manipulator_simulations/open_manipulator_simulations)
-- +++ processing catkin metapackage: 'turtlebot3'
-- ==> add_subdirectory(turtlebot3/turtlebot3)
-- +++ processing catkin package: 'turtlebot3_msgs'
-- ==> add_subdirectory(turtlebot3_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- turtlebot3_msgs: 3 messages, 0 services
-- +++ processing catkin package: 'turtlebot3_navigation'
-- ==> add_subdirectory(turtlebot3/turtlebot3_navigation)
-- +++ processing catkin package: 'dynamixel_sdk'
-- ==> add_subdirectory(DynamixelSDK/ros)
-- +++ processing catkin package: 'robotis_manipulator'
-- ==> add_subdirectory(robotis_manipulator)
-- +++ processing catkin package: 'open_manipulator_hw'
-- ==> add_subdirectory(open_manipulator_controls/open_manipulator_hw)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by
  "dynamixel_workbench_toolbox" with any of the following names:

    dynamixel_workbench_toolboxConfig.cmake
    dynamixel_workbench_toolbox-config.cmake

  Add the installation prefix of "dynamixel_workbench_toolbox" to
  CMAKE_PREFIX_PATH or set "dynamixel_workbench_toolbox_DIR" to a directory
  containing one of the above files.  If "dynamixel_workbench_toolbox"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  open_manipulator_controls/open_manipulator_hw/CMakeLists.txt:12 (find_package)


-- Could not find the required component 'dynamixel_workbench_toolbox'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "dynamixel_workbench_toolbox" with any of the following names:

    dynamixel_workbench_toolboxConfig.cmake
    dynamixel_workbench_toolbox-config.cmake

  Add the installation prefix of "dynamixel_workbench_toolbox" to
  CMAKE_PREFIX_PATH or set "dynamixel_workbench_toolbox_DIR" to a directory
  containing one of the above files.  If "dynamixel_workbench_toolbox"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  open_manipulator_controls/open_manipulator_hw/CMakeLists.txt:12 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/.../catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/.../catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:2250: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
...@ubuntu16-robotics:~/catkin_ws$ 

I appreciate your help.