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ros2_controller hardware plugin only for open_manipulator_x (ROS2 Humble) #61
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Hi @Aki1608 The related package will soon be available. |
Hi @ROBOTIS-Will, Turtlebot3 manipulation package is working for Humble. I can control the arm through moveit2 on RViz. Is there any update on hardware plugin only for open_manipulator_x? Actually, I want to control only the arm using U2D2 board through RViz, and waffle through openCR. |
Hi @Aki1608 Yes, we are currently working with both TurtleBot3 and OpenMANIPULATOR-X update. |
Okay. Thank you @ROBOTIS-Will. I have one more question. Is it possible to add virtual joints in the hardware plugin and OpenCR firmware to control the real hardware? Actually, I want to control the arm with moveit2 (inverse kinematics). But to my knowledge, the moveit2 has been written such that the arm should have minimum 6 DoF. I tried adding virtual joints in gazebo and I was able to control the arm using moveit2 and Rviz (inverse kinematics). I tried adding joints in OpenCR firmware file and also in the hardware plugin but I was not able to successfully control the arm. So before I try any further I wanted to know if it is even possible to add virtual joints and control real hardware? |
Hello everyone,
This is more like a question than an issue. I have the actual hardware and wanted to know if there is any ros2_controller hardware plugin for the open manipulator arm so that I can control the arm using rviz?
I can move the arm using teleop but I cant control it with Rviz. I think I have to change the hardware plugin in the ros2_controller.xacro file. But I don't have any hardware plugin for open_manipulator_x. In this repo there is one plugin defined in turtlebot3_manipulation_system.ros2_control.xacro file but it is for turtlebot and open_manipulator arm together. (at line 26, "turtlebot3_manipulation_hardware/TurtleBot3ManipulationSystemHardware"). Is there any similar plugin for open_manipulator_x arm alone?
Can anyone help me or guide me in finding/creating the plugin? Or any similar plugin is available?
I am using ROS2 humble on Ubuntu 22.04.
Thank you.
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