OpenManipulator机械臂入门教程-记录与复现轨迹

文章说明

• 本教程主要介绍如何使用OpenManipulator-x机械臂进行记录与复现运动轨迹
• 测试环境：OpenManipulator-x + OpenCR + ROS1 Noetic

安装步骤

• 安装

$ cd ~/openmanipulator_ws/src
$ git clone -b noetic https://github.com/EndlessLoops/open_manipulator_save_and_load
$ cd .. 
$ catkin_make
$ source ~/.bashrc

测试步骤

• 启动机械臂

$ roslaunch open_manipulator_controller open_manipulator_controller.launch usb_port:=/dev/ttyACM0

• 启动例程程序

$ roslaunch open_manipulator_save_and_load save_and_load.launch
... logging to /home/ubuntu/.ros/log/61831de8-b68c-11ee-9ce6-a7c8b0e446db/roslaunch-TB3-R12V302-VM-6552.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:37805/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /save_and_load/planning_group: arm
 * /save_and_load/robot_name: open_manipulator

NODES
  /
    save_and_load (open_manipulator_save_and_load/save_and_load)

ROS_MASTER_URI=http://localhost:11311

process[save_and_load-1]: started with pid [6566]
[INFO] [1705642459.367421]:  ActuatorState disable command 1 

---------------------------
1. Start to save joint data
2. Stop to save joint data
3. Load to joint data
---------------------------

• 例程启动后，会禁用当前机械臂的扭矩限制，以便于用手移动机械臂

• 按数字1键，开始记录轨迹，用手移动机械臂，机械臂的运动轨迹数据会记录到open_manipulator_save_and_load包下的cfg文件夹中的output.txt中

• 按数字2键，停止记录轨迹

• 按数字3键，开始复现轨迹

注意：经测试，该例程可能会出现不能正常复现轨迹的情况，即机械臂开始复现几个轨迹点后就停住。经测试，在记录轨迹步骤时，用手移动机械不能太快，动作稍微缓慢些会避免这个不能正常复现的问题

演示视频