Tutorial on controlling OpenMANIPULATOR-X integrated with ROSbot XL

Hi everyone!

If you’re looking for the mobile manipulation platform for your project, you may be interested to know that ROSbot XL from Husarion is now available with OpenMANIPULATOR-X, along with a comprehensive set of learning materials:

  • Manual, guiding you through the process of mounting the arm on ROSbot XL.
  • Tutorial on controlling the manipulator using a gamepad or the MotionPlanning Rviz plugin. You can run the tutorial on a physical robot or in the simulation.

Two key components of the setup presented in the tutorial are ros2_control and MoveIt 2.

ros2_control is used for controlling Dynamixel servos (you can find the code in this repository). It provides a position command interface, with position and velocity feedback, which can be combined with the JointTrajectoryController to execute planned motions.

MoveIt 2 is responsible for preparing motion plans, based on the desired end effector position. It can be controlled in RViz by simply dragging the marker, with a gamepad using servo mode or through the ROS 2 API. The code for MoveIt 2 integration is in the rosbot_xl_manipulation_ros repository.

Hope you enjoy the tutorial, let us know if you have any comments or questions!

If you’re interested in having your own ROSbot XL with OpenMANIPULATOR-X, you can get it here.