OpenManipulator-P机械臂入门教程-舵机检测

说明

介绍如何在PC连上OpenManipulator机械臂后进行舵机检测

操作步骤

首先连接上机械臂和U2D2
查看端口是否存在，同时为端口添加权限

$ ls /dev/ttyUSB0
$ sudo chmod a+rw /dev/ttyUSB0

如果使用U2D2连接PC和OpenManipulator机械臂，其端口为/dev/ttyUSB@（@为端口号）
您可以使用专用控制器程序通过消息控制 OpenMANIPULATOR-P 的每个关节并检查 OpenMANIPULATOR-P 的状态。
在启动控制器之前，请检查 open_manipulator_p_controller 包中的 open_manipulator_p_controller 启动文件。
检测舵机是否连接

rosrun dynamixel_workbench_controllers find_dynamixel /dev/ttyUSB0

注：但若找不到Dynamixel ID，请使用相关软件(R+ Manager 2.0 or R+ Manager 1.0)检查 Dynamixel舵机的固件

机械臂测试

建议启动机械臂前请将机械臂手动设置以下姿势，以避免启动后出现无法控制的问题

请输入图片描述

启动机械臂
启动roscore

roscore

启动open_manipulator_p_controller

$ roslaunch open_manipulator_p_controller open_manipulator_p_controller.launch

SUMMARY
========

PARAMETERS
 * /open_manipulator_p/control_period: 0.01
 * /open_manipulator_p/moveit_sample_duration: 0.05
 * /open_manipulator_p/planning_group_name: arm
 * /open_manipulator_p/using_moveit: False
 * /open_manipulator_p/using_platform: True
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    open_manipulator_p (open_manipulator_p_controller/open_manipulator_p_controller)

ROS_MASTER_URI=http://192.168.3.149:11311

process[open_manipulator_p-1]: started with pid [12510]
Joint Dynamixel ID : 1, Model Name : PRO-PLUS-PH54-200-S500-R
Joint Dynamixel ID : 2, Model Name : PRO-PLUS-PH54-200-S500-R
Joint Dynamixel ID : 3, Model Name : PRO-PLUS-PH54-100-S500-R
Joint Dynamixel ID : 4, Model Name : PRO-PLUS-PH54-100-S500-R
Joint Dynamixel ID : 5, Model Name : PRO-PLUS-PH42-020-S300-R
Joint Dynamixel ID : 6, Model Name : PRO-PLUS-PH42-020-S300-R
[INFO] Succeeded to init /open_manipulator_p

打开RViz，RViz中的模型将会与实际机器人同步

roslaunch open_manipulator_p_description open_manipulator_p_rviz.launch

效果如下

请输入图片描述

检查设置，查看机械臂的当前状态

rostopic pub /open_manipulator_p/option std_msgs/String "print_open_manipulator_prp_setting"

在启动机械臂的终端上会输出以下信息

----------<Manipulator Description>----------
<Degree of Freedom>
6.000
<Number of Components>
7.000

<World Configuration>
[Name]
-World Name : world
-Child Name : joint1
[Static Pose]
-Position : 
(0.000, 0.000, 0.000)
-Orientation : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
[Dynamic Pose]
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<gripperConfiguration> 
[Component Type]
Tool
[Name]
-Parent Name : joint6
[Actuator]
-Actuator Name : 
-ID :  -1
-Joint Axis : 
(0.000, 0.000, 0.000)
-Coefficient :  -0.015
-Position Limit : 
  Maximum : 0.010, Minimum : -0.010
[Actuator Value]
-Position :  0.000
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.064
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, -0.000
-0.000, -0.000, 0.000)
-Center of Mass : 
(0.036, 0.025, -0.000)
[Variable]
-Position : 
(0.223, -0.000, -0.001)
-Orientation : 
(0.006, -0.004, 1.000
-0.001, 1.000, 0.004
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint1Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : world
-Child Name 1 : joint2
[Actuator]
-Actuator Name : joint_dxl
-ID :  1
-Joint Axis : 
(0.000, 0.000, 1.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  -0.001
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.126)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.098
-Inertia Tensor : 
(0.000, -0.000, -0.000
-0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(-0.000, 0.001, 0.047)
[Variable]
-Position : 
(0.000, 0.000, 0.126)
-Orientation : 
(1.000, 0.001, 0.000
-0.001, 1.000, 0.000
0.000, 0.000, 1.000)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint2Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint1
-Child Name 1 : joint3
[Actuator]
-Actuator Name : joint_dxl
-ID :  2
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.517
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.000, 0.000, 0.033)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.139
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, -0.000
-0.000, -0.000, 0.000)
-Center of Mass : 
(0.010, 0.000, 0.102)
[Variable]
-Position : 
(0.000, 0.000, 0.159)
-Orientation : 
(0.869, 0.001, 0.494
-0.001, 1.000, -0.000
-0.494, 0.000, 0.869)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint3Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint2
-Child Name 1 : joint4
[Actuator]
-Actuator Name : joint_dxl
-ID :  3
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.915
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.030, 0.000, 0.264)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.133
-Inertia Tensor : 
(0.000, -0.000, -0.000
-0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.091, 0.000, 0.000)
[Variable]
-Position : 
(0.157, -0.000, 0.374)
-Orientation : 
(0.138, 0.001, 0.990
-0.000, 1.000, -0.001
-0.990, 0.000, 0.138)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint4Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint3
-Child Name 1 : joint5
[Actuator]
-Actuator Name : joint_dxl
-ID :  4
-Joint Axis : 
(1.000, 0.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  -0.007
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.195, 0.000, 0.030)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.213, -0.000, 0.185)
-Orientation : 
(0.138, -0.006, 0.990
-0.000, 1.000, 0.006
-0.990, -0.001, 0.138)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint5Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint4
-Child Name 1 : joint6
[Actuator]
-Actuator Name : joint_dxl
-ID :  5
-Joint Axis : 
(0.000, 1.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.132
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  0.000
[Constant]
-Relative Position from parent component : 
(0.063, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.222, -0.000, 0.122)
-Orientation : 
(0.006, -0.006, 1.000
-0.001, 1.000, 0.006
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)

<
joint6Configuration> [Component Type]
Active Joint
[Name]
-Parent Name : joint5
-Child Name 1 : gripper
[Actuator]
-Actuator Name : joint_dxl
-ID :  6
-Joint Axis : 
(1.000, 0.000, 0.000)
-Coefficient :  1.000
-Position Limit : 
  Maximum : 3.142, Minimum : -3.142
[Actuator Value]
-Position :  0.002
-Velocity :  0.000
-Acceleration :  0.000
-Effort :  -2.690
[Constant]
-Relative Position from parent component : 
(0.123, 0.000, 0.000)
-Relative Orientation from parent component : 
(1.000, 0.000, 0.000
0.000, 1.000, 0.000
0.000, 0.000, 1.000)
-Mass :  0.143
-Inertia Tensor : 
(0.000, 0.000, -0.000
0.000, 0.000, 0.000
-0.000, 0.000, 0.000)
-Center of Mass : 
(0.044, 0.000, 0.009)
[Variable]
-Position : 
(0.223, -0.000, -0.001)
-Orientation : 
(0.006, -0.004, 1.000
-0.001, 1.000, 0.004
-1.000, -0.001, 0.006)
-Linear Velocity : 
(0.000, 0.000, 0.000)
-Linear acceleration : 
(0.000, 0.000, 0.000)
-Angular Velocity : 
(0.000, 0.000, 0.000)
-Angular acceleration : 
(0.000, 0.000, 0.000)
---------------------------------------------

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