rosbot-xl-manipulation

In this project you can find an example integration of ROSbot XL with OpenManipulatorX based on MoveIt2. It includes servo mode configuration, which allows controlling manipulator with a gamepad.

Note

To simplify the execution of this project, we are utilizing just.

Install it with:

curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | sudo bash -s -- --to /usr/bin

Repository Setup

This repository contains the Docker Compose setup for both PC and ROSbot XL. You can clone it to both PC and ROSbot XL, or use the ./sync_with_rosbot.sh script to clone it to your PC and keep it synchronized with the robot

git clone https://github.com/husarion/rosbot-xl-manipulation.git
cd rosbot-xl-manipulation 
export ROSBOT_ADDR=10.5.10.123 # Replace with your own ROSbot's IP or Husarnet hostname
./sync_with_rosbot.sh $ROSBOT_ADDR

Flashing the ROSbot's Firmware

To flash the Micro-ROS based firmware for STM32F4 microcontroller responisble for low-level functionalities of ROSbot XL, execute in the ROSbot's shell:

just flash

Choosing the Network (DDS) Config

Edit net.env file and uncomment on of the configs:

# =======================================
# Network config options (uncomment one)
# =======================================

# 1. Fast DDS + LAN
# RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# 2. Cyclone DDS + LAN
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# 3. Fast DDS + VPN
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml

# 4. Cyclone DDS + VPN
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml

VPN connection

If you choose to use the VPN option, both your ROSbot XL and laptop must be connected to the same Husarnet network.

If they are not, follow this guide:

Connecting ROSbot and Laptop over the Internet (VPN).

Verifying Hardware Configuration

To ensure proper hardware configuration, review the content of the .env file:

# =======================================
# Hardware config
# =======================================

MANIPULATOR_SERIAL=/dev/ttyMANIPULATOR
MANIPULATOR_BAUDRATE=1000000

ANTENNA_ROTATION_ANGLE=-1.57

# MECANUM=True
MECANUM=False

The default options should be suitable. Notes:

• Make sure to add the following line: ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", SYMLINK+="ttyMANIPULATOR" to your robot's udev rules, so that manipulator will be available under /dev/ttyMANIPULATOR
• Set MANIPULATOR_BAUDRATE according to the baud rate that is set in servos (by default this value should be set to 1000000, you can check/change this value in the Dynamixel Wizard 2.0)

I. Running on a Physical Robot

PC

First connect a gamepad to the USB port of your PC/laptop, open a new terminal on the PC and run:

just pc

ROSbot

Warning

After running the following command servos' torque will be turned on, first lift the manipulator, so it won't be in collision with your robot.

In the ROSbot's terminal execute (in /home/husarion/rosbot-xl-manipulation directory):

just rosbot

Manipulator control

Please note that manipulator controls can be changed by editing joy_servo.yaml in the config directory. It is also possible to configure ROSbot XL control (joy2twist.yaml config).

First make sure that gamepad is in the Direct Input Mode (switch in front with letters D and X, select D).

Controls:

• RB - manipulator's dead man's switch
• LB - ROSbot control dead man's switch (with this button pressed you can control ROSbot XL, for specific commands please refer to the documentation of the joy2twist node)
• Start - return the manipulator to the Home position
• Left Joy - moving end effector in X/Y directions
• Right Joy - moving end effector in the Z direction (Up/Down) and changing Pitch angle (Left/Right)
• Left/Right arrow - moving joint1 of the manipulator
• Up/Down arrow - moving joint2 of the manipulator
• X/B button - moving joint3 of the manipulator
• Y/A - moving joint4 of the manipulator
• RT - close gripper
• LT - open gripper

The cartesian coordinate frame was defined to be in the link2 - that's why the Y direction is actually yaw rotation.

If the manipulator stops moving it could be near collision (may not appear so, because collision bounds are larger than the robot) or singularity. If that happens the easiest option is to press Start so that the manipulator will return to the Home position.

Apart from a gamepad, it is also possible to control the manipulator using MoveIt's MotionPlanning plugin in the RViz.

The torque of the manipulator can be turned off by executing the following service call in one of the containers:

ros2 service call /controller_manager/set_hardware_component_state \
  controller_manager_msgs/srv/SetHardwareComponentState \
  "{name: 'manipulator', target_state: {id: 0, label: 'inactive'}}"

It is not recommended to later turn it on using service, as the last commanded position is remembered and the manipulator will attempt to return to it upon enabling torque. Instead you should restart the container.

II. Simulation

Prerequisites

The compose.sim.gazebo.yaml file uses NVIDIA Container Runtime. Make sure you have NVIDIA GPU and the NVIDIA Container Toolkit installed.

Start the containers in a new terminal:

xhost +local:docker && \
docker compose -f compose.sim.gazebo.yaml up

Collision for the manipulator is disabled in Gazebo Ignition - there aren't any collision models available for OpenManipulatorX, in the official configuration visual meshes are used also for collision, which causes a large drop in the real-time factor of the simulation.

In simulation servo position control is used instead of velocity (due to a bug, which causes the manipulator to fall just after start). As a result homing manipulator from joy_servo isn't supported.