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
- ROS2 Humble
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">