OpenManipulator-X(ROS2)-Humble-Chap4-快速入門

章節目錄

C4. 快速入門指南
- C4.1. 設定
- C4.2. 基本操作
  - C4.2.1. 啟動 controller
  - C4.2.2. 由鍵盤遙控

C4. 快速入門指南 #

本入門指南，是要一步一步介紹如何在 ROS 上運行 OpenManipulator-X 機器手臂，它會引導你首次操作 OpenManipulator-X。

為了執行本入門指南，你應該準備以下物品。

OpenManipulator-X 機器手臂
通訊介面(使用你喜歡的任一選項)(需另購)
- 選項 1 (由電腦直接控制)：DYNAMIXEL Starter Set 馬達入門套件包
- 選項 2 (由控制板控制)：OpenCR 1.0 控制板
電源
- 建議使用 ROBOTIS SMPS 電源線(12V，5A) (內含在 DYNAMIXEL Starter Set 中）

你也可以加購 Base Plate-02 鋁質平板，可以將 OpenManipulator-X 手臂鎖在平板上，然後用夾具將平板固定在桌上。

Note OpenCR 1.0 控制板具有 Arduino 編程功能。當 OpenManipulator-X 機器手臂與 OpenCR 1.0 連接時，OpenMANIPULATOR-X 可獨立操作而無需 ROS 環境。你可以參考 OpenManipulator-X-Arduino 的章節。

C4.1. 設定 #

C4.1.1. 在 PC 安裝 Ubuntu #

在 PC 或筆電上安裝 Ubuntu，會因電腦型號而略有差異。如有問題，請聯絡電腦製造商或是在網路社群詢問。

Note 操作的內容已在 Ubuntu 22.04 及 ROS2 Humble 版本上測試過。

首先要在 Remote PC(你的桌電或是筆電)上安裝 Ubuntu(一種 Linux 作業系統). 請先下載 Ubuntu 20.04 LTS Desktop 版及參考安裝步驟進行安裝.

C4.1.2. 在 PC 安裝 ROS #

請依照官方 ROS2 手冊來安裝 ROS2 Humble。

對大部分 Linux 使用者，強烈建議採用 Debian package installation 方式。

C4.1.3. 安裝相關 ROS Packages #

在 terminal 輸入以下指令，會安裝 OpenManipulator-X 相關套件。

				
					$ sudo apt install \
  ros-humble-ros2-control \
  ros-humble-moveit* \
  ros-humble-gazebo-ros2-control \
  ros-humble-ros2-controllers \
  ros-humble-controller-manager \
  ros-humble-position-controllers \
  ros-humble-joint-state-broadcaster \
  ros-humble-joint-trajectory-controller \
  ros-humble-gripper-controllers \
  ros-humble-hardware-interface \
  ros-humble-xacro

				
					$ mkdir -p colcon_ws/src
$ cd ~/colcon_ws/src/
$ git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git
$ cd ~/colcon_ws && colcon build --symlink-install

在 PC 上設定 ROS 環境

				
					$ echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
$ echo 'source ~/colcon_ws/install/local_setup.bash' >> ~/.bashrc
$ source ~/.bashrc

C4.1.4. 通訊介面 #

要控制 OpenManipulator-X 機器手臂，有兩個通訊介面的硬體選擇。請對應下列 2 個補充資料選項來選擇。

在完成選項後，請開電源，然後看所有的 Dynamixel-X 智能馬達 LED 燈，是否會閃一次。

補充資料：選項 1(建議): 使用 U2D2 轉接器作為通訊介面 (由電腦直接控制)。 #

C4.1.4.1. 如何連接 #

使用 Dynamixel Starter Set 馬達入門套件包(需另購)

將 micro USB 連接線，連接 U2D2 到 PC
3pin-TTL 連接線，連接 U2D2 到 U2D2 Power Hub Board
3pin-TTL 連接線，連接 DYNAMIXEL-X 智能馬達(OpenMANIPULATOR-X) 到 U2D2 Power Hub Board
SMPS 電源線(12V，5A)連接到 U2D2 Power Hub 電源擴充板，如下圖所示。

Note 請參考
- U2D2 線上手冊 (https://emanual.robotis.com/docs/en/parts/interface/u2d2/)
- U2D2 Power Hub Board 線上手冊 (https://emanual.robotis.com/docs/en/parts/interface/u2d2_power_hub/)
來詳細了解如何連接的資訊

C4.1.4.2. USB Latency Timer 延遲定時器設置 #

在 Linux(Ubuntu) 環境中，USB latency time 延遲時間，預設為 16ms。請按照以下步驟，將 DYNAMIXEL-X 智能馬達，和通過 USB 連接的 PC 之間的通信延遲時間，設置為最低值(1ms)。

開新 terminal ，並輸入以下指令來設置 usb 延遲時間為 1ms。。

				
					$ ros2 run open_manipulator_x_bringup create_udev_rules

TIPS 如果要查看目前 latency 的設置值，請在 terminal 中執行以下指令。

				
					$ cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

補充資料：選項 2: 使用 OpenCR 1.0 控制器作為通訊介面 (由控制器控制)。 #

本節介紹如何將 OpenCR 設定為 PC 的 ROS 套件，和 OpenMANIPULATOR-X 的 DYNAMIXEL 智能馬達之間的通訊板。

C4.1.4.3. 如何連接 #

使用 Dynamixel Starter Set 馬達入門套件包

將 micro USB 連接線，連接 OpenCR 到 PC
3pin-TTL 連接線，連接 DYNAMIXEL-X 智能馬達(OpenMANIPULATOR-X) 到 OpenCR
SMPS 電源線(12V，5A)連接到 OpenCR，如下圖所示。

Note 請參考
- OpenCR 1.0 控制器線上手冊 (https://emanual.robotis.com/docs/en/parts/controller/opencr10/)
來詳細了解如何連接的資訊

C4.1.4.4. 上傳 source code #

1. 請參考此頁面的說明，安裝 Arduino IDE ，並在 Arduino IDE 環境中使用 OpenCR 控制板。

2. 連接 OpenCR 到 PC

3. 從 File > Examples > OpenCR > 10.Etc > usb_to_dxl 打開範例

4. 上傳 example 到 OpenCR

5. 當上傳完成，下列指令會顯示在 log 視窗。

FAQ 如果上傳失敗，可以依下列指示，嘗試在 recovery mode 下重新上傳韌體(https://emanual.robotis.com/docs/en/parts/controller/opencr10/#recovery-mode)。
OpenCR 的 recovery mode 啟動順序如下。在 recovery mode 時，OpenCR 的 STATUS led 燈會 100ms 定時的閃爍。
1. 打開 OpenCR 電源
2. 按住 PUSH SW2 鍵
3. 按一下 Reset 鍵
4. 然後鬆開 Reset 鍵
5. 再鬆開 PUSH SW2 鍵

C4.2. 基本操作 #

本節的指令適用於官方 ROBOTIS official OpenMANIPULATOR-X package。如果你是使用開源自製 OpenManipulator-X 手臂，請務必將 Dynamixel 馬達設置如下圖。

警告 gripper 爪手(ID 15)需要 Current based Position Control Mode 來控制。請確認你使用的 Dynamixel 智能馬達有支援此控制模式(https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/#operating-mode11)。

FAQ - 你可以使用 Dynamixel Wizard 2.0 工具軟體來設定 Dynamixel 智能馬達(https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/)
- 在完成 C 4.1.4 通訊介面章節後，使用 Dynamixel Wizard 2.0 工具軟體來設定 Dynamixel 智能馬達

C4.2.1. 啟動 controller #

執行本節的指令後，可控制 OpenManipulator-X 的軟體 controller 會啟動，OpenManipulator-X 手臂的每個關節，都會被鎖定(Torque On)。

當使用 U2D2 來控制

關閉所有 terminal，開新的 terminal 輸入下列指令

				
					$ ros2 launch open_manipulator_x_bringup hardware.launch.py

當使用 OpenCR 來控制

關閉所有 terminal，開新的 terminal 輸入下列指令

				
					$ ros2 launch open_manipulator_x_bringup hardware.launch.py port_name:=/dev/ttyACM0

警告請在運行 OpenMANIPULATOR-X 手臂之前，先檢查每個關節的位置。如果關節位置設置不當，超出運作範圍，手臂可能會停止操作。下面的圖片向你展示了 OpenMANIPULATOR-X 機器手臂的理想姿勢方位。當還未啟動 DYNAMIXEL 智能馬達的扭力時，請調整每個關節的方位如下圖所示。

啟動後，在 terminal 顯示輸出結果會類似於

				
					$ ros2 launch open_manipulator_x_bringup hardware.launch.py

[INFO] [launch]: All log files can be found below /home/omx/.ros/log/2024-12-10-16-13-03-846807-omx-3063
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [3066]
[INFO] [robot_state_publisher-2]: process started with pid [3068]
[INFO] [spawner-3]: process started with pid [3070]
[robot_state_publisher-2] [INFO] [1733814784.140348781] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-2] [INFO] [1733814784.140441706] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-2] [INFO] [1733814784.140450447] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-2] [INFO] [1733814784.140455005] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-2] [INFO] [1733814784.140459339] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1733814784.140463495] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1733814784.140467530] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1733814784.140471673] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1733814784.140475662] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1733814784.140479440] [robot_state_publisher]: got segment world
[ros2_control_node-1] [WARN] [1733814784.150297704] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1733814784.150762238] [resource_manager]: Loading hardware 'OpenManipulatorXSystem' 
[ros2_control_node-1] [INFO] [1733814784.163256190] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem' 
[ros2_control_node-1] transmission_to_joint_matrix_ 
[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, 
[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, 
[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, 
[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, 
[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, 
[ros2_control_node-1] [5][0] 0.000000, [5][1] 0.000000, [5][2] 0.000000, [5][3] 0.000000, [5][4] 0.000000, 
[ros2_control_node-1] joint_to_transmission_matrix_ 
[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [0][5] 0.000000, 
[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [1][5] 0.000000, 
[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [2][5] 0.000000, 
[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [3][5] 0.000000, 
[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, [4][5] 0.000000, 
[ros2_control_node-1] [INFO] [1733814784.164000125] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000
[ros2_control_node-1] Dynamixel Information File List.
[ros2_control_node-1] num: 1000, name: xh430_w350.model
[ros2_control_node-1] num: 1020, name: xm430_w350.model
[ros2_control_node-1] num: 1060, name: xl430_w250.model
[ros2_control_node-1] num: 1080, name: xc430_w240.model
[ros2_control_node-1] num: 1100, name: xh540_w270.model
[ros2_control_node-1] num: 1160, name: 2xc430_w250.model
[ros2_control_node-1] num: 4000, name: ym070_210_m001.model
[ros2_control_node-1] num: 4020, name: ym070_210_r051.model
[ros2_control_node-1] num: 4030, name: ym070_210_r099.model
[ros2_control_node-1] num: 4050, name: ym070_210_a099.model
[ros2_control_node-1] num: 4120, name: ym080_230_m001.model
[ros2_control_node-1] num: 4140, name: ym080_230_r051.model
[ros2_control_node-1] num: 4150, name: ym080_230_r099.model
[ros2_control_node-1] num: 4170, name: ym080_230_a099.model
[ros2_control_node-1] num: 35074, name: rh_p12_rn.model
[ros2_control_node-1] [INFO] [1733814784.165060244] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
[ros2_control_node-1] [INFO] [1733814784.165085781] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port
[ros2_control_node-1] [INFO] [1733814784.165119953] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled.
[ros2_control_node-1] Succeeded to open the port!
[ros2_control_node-1] Succeeded to change the [1000000] baudrate!
[ros2_control_node-1] [ID:011] Request ping	 - Ping succeeded. Dynamixel model number : 1020
[ros2_control_node-1] [ID:012] Request ping	 - Ping succeeded. Dynamixel model number : 1020
[ros2_control_node-1] [ID:013] Request ping	 - Ping succeeded. Dynamixel model number : 1020
[ros2_control_node-1] [ID:014] Request ping	 - Ping succeeded. Dynamixel model number : 1020
[ros2_control_node-1] [ID:015] Request ping	 - Ping succeeded. Dynamixel model number : 1020
[ros2_control_node-1] [INFO] [1733814784.172855510] [dynamixel_hardware_interface]: Trying to connect to the communication port...
[ros2_control_node-1] [INFO] [1733814784.172904554] [dynamixel_hardware_interface]: $$$$$ Init Dxl Items
[ros2_control_node-1] [INFO] [1733814784.174263837] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode	data:0
[ros2_control_node-1] [INFO] [1733814784.175202777] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.176189566] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.177218657] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain	data:800
[ros2_control_node-1] [INFO] [1733814784.178201814] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode	data:0
[ros2_control_node-1] [INFO] [1733814784.179188157] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.180215312] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.181209639] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain	data:800
[ros2_control_node-1] [INFO] [1733814784.182195348] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode	data:0
[ros2_control_node-1] [INFO] [1733814784.183204690] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.184192489] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.185186500] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain	data:800
[ros2_control_node-1] [INFO] [1733814784.186251591] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode	data:0
[ros2_control_node-1] [INFO] [1733814784.187186969] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.188187523] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain	data:100
[ros2_control_node-1] [INFO] [1733814784.189248186] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain	data:800
[ros2_control_node-1] [INFO] [1733814784.189281693] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items
[ros2_control_node-1] Dynamixel Read Type : sync read
[ros2_control_node-1] ID : 11, 12, 13, 14, 15, 
[ros2_control_node-1] Read items : 	Present Position	Present VelocityPresent Current	Torque Enable	Present Input Voltage
[ros2_control_node-1] set sync read (indirect addr) : addr 224, size 13
[ros2_control_node-1] Success to set SyncRead handler using indirect address
[ros2_control_node-1] [INFO] [1733814784.255333410] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items
[ros2_control_node-1] Dynamixel Write Type : sync write
[ros2_control_node-1] ID : 11, 12, 13, 14, 15, 
[ros2_control_node-1] Write items : 	Goal Position
[ros2_control_node-1] set sync write (indirect addr) : addr 634, size 4
[ros2_control_node-1] Success to set SyncWrite handler using indirect address
[ros2_control_node-1] [INFO] [1733814784.285087764] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1733814784.285623329] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem' 
[ros2_control_node-1] [INFO] [1733814784.285649762] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1733814784.285677277] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem' 
[ros2_control_node-1] [INFO] [1733814784.288399302] [dynamixel_hardware_interface]: Sync joint state to command (position, 3.25354 <- position, 3.25354
[ros2_control_node-1] [INFO] [1733814784.288484144] [dynamixel_hardware_interface]: Sync joint state to command (position, -22.5879 <- position, -22.5879
[ros2_control_node-1] [INFO] [1733814784.288522542] [dynamixel_hardware_interface]: Sync joint state to command (position, 48.5393 <- position, 48.5393
[ros2_control_node-1] [INFO] [1733814784.288556311] [dynamixel_hardware_interface]: Sync joint state to command (position, 59.4431 <- position, 59.4431
[ros2_control_node-1] [INFO] [1733814784.288587808] [dynamixel_hardware_interface]: Sync joint state to command (position, 1.08561 <- position, 1.08561
[ros2_control_node-1] [INFO] [1733814784.288619773] [dynamixel_hardware_interface]: Sync joint state to command (position, 0 <- position, 0
[spawner-3] [INFO] [1733814784.344387122] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [ID:011] Torque ON
[ros2_control_node-1] [ID:012] Torque ON
[ros2_control_node-1] [ID:013] Torque ON
[ros2_control_node-1] [ID:014] Torque ON
[ros2_control_node-1] [ID:015] Torque ON
[ros2_control_node-1] [INFO] [1733814784.794363518] [dynamixel_hardware_interface]: Dynamixel Hardware Start!
[ros2_control_node-1] [INFO] [1733814784.794583503] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1733814784.844187956] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [INFO] [1733814784.844239126] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1733814784.847602761] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1733814784.864748196] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1733814784.872066996] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1733814784.872576377] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1733814784.872671446] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1733814784.890559256] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 3070]
[INFO] [spawner-4]: process started with pid [3114]
[INFO] [spawner-5]: process started with pid [3116]
[ros2_control_node-1] [INFO] [1733814785.561511632] [controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-1] [WARN] [1733814785.574916138] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-1] [INFO] [1733814785.576633589] [controller_manager]: Loading controller 'gripper_controller'
[spawner-5] [INFO] [1733814785.598697696] [spawner_arm_controller]: Loaded arm_controller
[ros2_control_node-1] [INFO] [1733814785.599380288] [controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-1] [INFO] [1733814785.599545696] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1733814785.599572347] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1733814785.599598355] [arm_controller]: Using 'splines' interpolation method.
[spawner-4] [INFO] [1733814785.600233495] [spawner_gripper_controller]: Loaded gripper_controller
[ros2_control_node-1] [INFO] [1733814785.600325312] [arm_controller]: Controller state will be published at 200.00 Hz.
[ros2_control_node-1] [INFO] [1733814785.605748626] [arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1733814785.609463352] [controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-1] [INFO] [1733814785.609542143] [gripper_controller]: Action status changes will be monitored at 20Hz.
[spawner-5] [INFO] [1733814785.619695267] [spawner_arm_controller]: Configured and activated arm_controller
[spawner-4] [INFO] [1733814785.626031382] [spawner_gripper_controller]: Configured and activated gripper_controller
[INFO] [spawner-4]: process has finished cleanly [pid 3114]
[INFO] [spawner-5]: process has finished cleanly [pid 3116]

TIPS - 如果無法載入 Dynamixel 智能馬達，可以使用 Dynamixel Wizard 2.0 工具軟體來檢查韌體 (https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/)

C4.2.2. 由鍵盤遙控 #

開新的 terminal 並輸入指令，來執行 servo launch 檔， MoveIt Servo 會為關節空間(joint or Cartesian space)中的機器手臂，提供實時、平穩，且響應迅速的控制。

				
					$ ros2 launch open_manipulator_x_moveit_config servo.launch.py

開新的 terminal 並輸入指令。

				
					$ ros2 run open_manipulator_x_teleop open_manipulator_x_teleop

成功啟動後，terminal 會顯示下列之介面，你就可以用鍵盤來控制 OpenManipulator-X 手臂。

				
					[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.

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