ROS2与OpenManipulator-X入门教程#humble版#-键盘控制

文章说明

• 本教程主要介绍如何在Humble版本下使用键盘控制omx机械臂

操作步骤

• 启动机械臂

# 使用U2D2作为驱动板
$ ros2 launch open_manipulator_x_bringup hardware.launch.py
# 使用openCR作为驱动板
$ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0

• 启动MoveIt舵机配置

$ ros2 launch open_manipulator_x_moveit_config servo.launch.py

• 启动键盘控制

$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop

[INFO] [1732776371.215661501] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER
[INFO] [1732776371.216112752] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER
[INFO] [1732776371.216172872] [servo_keyboard_input]: call 'moveit_servo' start srv.
[INFO] [1732776371.283417067] [servo_keyboard_input]: SUCCESS to start 'moveit_servo'
Reading from keyboard
---------------------------
Joint Control Keys:
  1/q: Joint1 +/-
  2/w: Joint2 +/-
  3/e: Joint3 +/-
  4/r: Joint4 +/-
Use o|p to open/close the gripper.
'ESC' to quit.