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[ROS 2] Operation

GUI Program​

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GUI Program for ROS 2 Dashing Diademata will be released soon!

Teleoperation​

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NOTE:

  • The test is done on ROS 2 Dashing Diademata installed in Ubuntu 18.04.
  • Make sure ROS dependencies are installed before performing these instructions. - Install ROS 2 Packages.
  • Make sure to run the OpenMANIPULATOR-P controller instructions before use of the instruction

Keyboard​

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TIP: Terminal can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for Terminal is Ctrl+Alt+t.

Launch open_manipulator_p_teleop_keyboard node for simple teleoperation test using the keyboard.

$ ros2 run open_manipulator_p_teleop open_manipulator_p_teleop_keyboard

If the node is successfully launched, the following instruction will appear in the terminal window.

---------------------------------
Control Your OpenManipulator-P!
---------------------------------
w : increase x axis in task space
s : decrease x axis in task space
a : increase y axis in task space
d : decrease y axis in task space
z : increase z axis in task space
x : decrease z axis in task space

r : increase joint 1 angle
f : decrease joint 1 angle
t : increase joint 2 angle
g : decrease joint 2 angle
y : increase joint 3 angle
h : decrease joint 3 angle
u : increase joint 4 angle
j : decrease joint 4 angle
i : increase joint 5 angle
k : decrease joint 5 angle
o : increase joint 6 angle
l : decrease joint 6 angle
v : gripper open
b : gripper close
       
1 : init pose
2 : home pose
       
q to quit
-------------------------------------------------------------------------------
Present Joint Angle J1: 0.000 J2: 0.000 J3: 0.000 J4: 0.000 J5: 0.000 J6: 0.000
Present Kinematics Position X: 0.000 Y: 0.000 Z: 0.000
-------------------------------------------------------------------------------

PS4 Joystick​

Install packages for teleoperation using PS4 joystick.

$ sudo pip install ds4drv

Connect PS4 joystick to the PC via Bluetooth using the following command

$ sudo ds4drv

Enter pairing mode with PS4 by pressing and holding Playstation button + share button for 10 sec. If the light on PS4 turns blue, enter the following commands in terminal and control OpenMANIPULATOR-P.

$ ros2 run joy joy_node
$ ros2 run open_manipulator_p_teleop open_manipulator_p_teleop_joystick

XBOX 360 Joystick​

Install packages for teleoperation using XBOX 360 joystick.

Connect XBOX 360 joystick to the PC with Wireless Adapter or USB cable, and launch teleoperation packages for XBOX 360 joystick.

$ ros2 run joy joy_node
$ ros2 run open_manipulator_p_teleop open_manipulator_p_teleop_joystick