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.