timassman/open_manipulator_moveit2

OpenManipulator for controlling in Moveit2 with ROS2

OpenManipulatorX for use with MoveIt2

Introduction

Work in progress...

ROBOTIS' Open-manipulator-X repository does support MoveIt for ROS1, but not MoveIt2 for ROS2

ROBOTIS' Turtlebot3 manipulation repository is more up-to-date and supports MoveIt2 for ROS2, but depends on a Turtlebot3.

This is a fork of the ROBOTIS' Turtlebot3 manipulation repository,
with all turtlebot3_manipulation renamed to open_manipulator and all references to Turtlebot3 removed.

Eventually it should also work for U2D2 controller instead of openCR.

More documentation: Manipulation with Turtlebot3

Prerequisites

• ROS2 Humble

Installation

Clone repository:

cd ~/ros2_ws/src
git clone https://github.com/timassman/open_manipulator_moveit2.git

Build repository:

cd ~/ros2_ws

On your robot, when using ARM chip, gazebo is not available (and not needed):

rosdep install -i -r --from-path src --rosdistro humble -y --skip-keys="gazebo_ros"

Otherwise, on your remote pc:

rosdep install -i -r --from-path src --rosdistro humble -y 

colcon build

Source the environment:

source ~/ros2_ws/install/local_setup.bash

## Real hardware

### On your robot
(Not tested yet)

ros2 launch open_manipulator_bringup hardware.launch.py

### On remote pc

ros2 launch open_manipulator_moveit_config moveit_core.launch.py

Should show:

<img src="rviz.png">