ROS package for controll OpenManipulator with Node-RED
Gripper Control, Sequential Control(ROUTIN buttons), specific pose button(INITIALPOSE, HOMEPOSE), Hand Guide Mode, Enable or Disable Actuator
This package works in the Ubuntu 16.04, ROS Kinetic, node.js v12.14.1, npm v6.13.4, Node-RED v1.0.3 .
- Clone Robotis OpenManipulator packages and this repository at your catkin workspace.
If your catkin workspace is at ~/catkin_ws/, run the following command.
$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ git clone https://github.com/ductility/open_manipulator_nodered_controller.git
$ cd open_manipulator
$ git reset --hard 1228bd4e
$ cd ~/catkin_ws && catkin_make
The namespace has changed in the latest version of the Open manipulator. So use the software from the previous commit.
- Install required Node-RED libraries.
$ cd ~/.node-red
$ npm install snappy-ros
$ npm install node-red-contrib-ros
$ npm install node-red-dashboard[{"id":"f0730477.741638","type":"tab","label":"Controller","disabled":false,"info":""},{"id":"8e1a6ce3.bdaaf","type":"ros-server","z":"","url":"ws://localhost:9090"},{"id":"c8ff9173.adcae","type":"ros-server","z":"","url":"ws://localhost:9090"},{"id":"a972f19e.a9b75","type":"ui_base","theme":{"name":"theme-light","lightTheme":{"default":"#0094CE","baseColor":"#0094CE","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif","edited":true,"reset":false},"darkTheme":{"default":"#097479","baseColor":"#097479","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif","edited":false},"customTheme":{"name":"Untitled Theme 1","default":"#4B7930","baseColor":"#4B7930","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif"},"themeState":{"base-color":{"default":"#0094CE","value":"#0094CE","edited":false},"page-titlebar-backgroundColor":{"value":"#0094CE","edited":false},"page-backgroundColor":{"value":"#fafafa","edited":false},"page-sidebar-backgroundColor":{"value":"#ffffff","edited":false},"group-textColor":{"value":"#1bbfff","edited":false},"group-borderColor":{"value":"#ffffff","edited":false},"group-backgroundColor":{"value":"#ffffff","edited":false},"widget-textColor":{"value":"#111111","edited":false},"widget-backgroundColor":{"value":"#0094ce","edited":false},"widget-borderColor":{"value":"#ffffff","edited":false},"base-font":{"value":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif"}},"angularTheme":{"primary":"indigo","accents":"blue","warn":"red","background":"grey"}},"site":{"name":"Node-RED Dashboard","hideToolbar":"false","allowSwipe":"false","lockMenu":"false","allowTempTheme":"true","dateFormat":"DD/MM/YYYY","sizes":{"sx":48,"sy":48,"gx":6,"gy":6,"cx":6,"cy":6,"px":0,"py":0}}},{"id":"3a62e8fe.6ab338","type":"ui_tab","z":"","name":"Controller","icon":"dashboard","order":1,"disabled":false,"hidden":false},{"id":"40d3d7c9.98c1b8","type":"ui_group","z":"","name":"Hand Guide","tab":"3a62e8fe.6ab338","order":1,"disp":true,"width":"6","collapse":false},{"id":"f3851a35.de7f68","type":"ui_group","z":"","name":"Buttons","tab":"3a62e8fe.6ab338","order":2,"disp":true,"width":"6","collapse":false},{"id":"920a2f08.bee05","type":"mqtt-broker","z":"","name":"","broker":"broker.mqtt-dashboard.com","port":"1883","clientid":"ysys","usetls":false,"compatmode":false,"keepalive":"60","cleansession":true,"birthTopic":"","birthQos":"0","birthPayload":"","closeTopic":"","closeQos":"0","closePayload":"","willTopic":"","willQos":"0","willPayload":""},{"id":"f7044120.18aab","type":"ros-subscriber","z":"f0730477.741638","topicname":"/open_manipulator/input_kinematics_pose","typepackage":"geometry_msgs","typename":"Pose","x":920,"y":920,"wires":[["13e1a3b.eab645c"]]},{"id":"eb4faf33.3767a","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/input_kinematics_pose","typepackage":"geometry_msgs","typename":"Pose","x":1080,"y":80,"wires":[]},{"id":"13e1a3b.eab645c","type":"debug","z":"f0730477.741638","name":"","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","x":1220,"y":920,"wires":[]},{"id":"b01e2eb5.2fbed","type":"function","z":"f0730477.741638","name":"Init_Pose","func":"var inputPose = {\n \"position\": {\n \"x\": 0.15,\n \"y\": 0.0,\n \"z\": 0.2\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":440,"y":60,"wires":[["eb4faf33.3767a"]]},{"id":"e848c72e.d33748","type":"function","z":"f0730477.741638","name":"Home_Pose","func":"var inputPose = {\n \"position\": {\n \"x\": 0.07,\n \"y\": 0.0,\n \"z\": 0.28\n },\n \"orientation\": {\n \"x\": 0.01,\n \"y\": -0.9,\n \"z\": 0.006,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":450,"y":120,"wires":[["eb4faf33.3767a"]]},{"id":"4053bcdc.4a5b14","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":480,"y":240,"wires":[["82dc3829.2b2108"]]},{"id":"443bfbff.1ab424","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/input_gripper_angle","typepackage":"std_msgs","typename":"Float64","x":900,"y":600,"wires":[]},{"id":"b2f6ee7f.0923c","type":"ros-subscriber","z":"f0730477.741638","topicname":"/open_manipulator/input_gripper_angle","typepackage":"std_msgs","typename":"Float64","x":910,"y":980,"wires":[["f5e72007.053a4"]]},{"id":"f5e72007.053a4","type":"debug","z":"f0730477.741638","name":"","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"false","x":1210,"y":980,"wires":[]},{"id":"25854e9f.1dee02","type":"function","z":"f0730477.741638","name":"Open(angle 0.01)","func":"var inputAngle = {\n \"data\": 0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":290,"y":240,"wires":[["4053bcdc.4a5b14","443bfbff.1ab424"]]},{"id":"f96c8f8c.e588c","type":"function","z":"f0730477.741638","name":"object_position","func":"var inputPose = {\n \"position\": {\n \"x\": 0.25,\n \"y\": 0.0,\n \"z\": 0.04\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":660,"y":240,"wires":[[]]},{"id":"45fdc5e6.260c4c","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"2","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":860,"y":240,"wires":[["f1846f1.3b6209"]]},{"id":"f1846f1.3b6209","type":"function","z":"f0730477.741638","name":"Close(angle -0.01)","func":"var inputAngle = {\n \"data\": -0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":1030,"y":240,"wires":[["443bfbff.1ab424","a01a9684.98d9f8"]]},{"id":"a01a9684.98d9f8","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":1240,"y":240,"wires":[["17a3de2d.2c9522"]]},{"id":"17a3de2d.2c9522","type":"function","z":"f0730477.741638","name":"up","func":"var inputPose = {\n \"position\": {\n \"x\": 0.2,\n \"y\": 0.0,\n \"z\": 0.25\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":150,"y":320,"wires":[["eb4faf33.3767a","78577f9a.aa25a"]]},{"id":"78577f9a.aa25a","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"3","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":300,"y":320,"wires":[["d9cc7e63.c65d3"]]},{"id":"d9cc7e63.c65d3","type":"function","z":"f0730477.741638","name":"down","func":"var inputPose = {\n \"position\": {\n \"x\": 0.2,\n \"y\": -0.2,\n \"z\": 0.05\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":470,"y":320,"wires":[["eb4faf33.3767a","24dfa3ce.efdacc"]]},{"id":"24dfa3ce.efdacc","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"2","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":640,"y":320,"wires":[["779ac990.c87e58"]]},{"id":"779ac990.c87e58","type":"function","z":"f0730477.741638","name":"Open(angle 0.01)","func":"var inputAngle = {\n \"data\": 0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":830,"y":320,"wires":[["443bfbff.1ab424","155108b8.a476e7"]]},{"id":"5344baf4.2ee944","type":"function","z":"f0730477.741638","name":"Init_Pose","func":"var inputPose = {\n \"position\": {\n \"x\": 0.15,\n \"y\": 0.0,\n \"z\": 0.2\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":1240,"y":320,"wires":[["eb4faf33.3767a"]]},{"id":"155108b8.a476e7","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":1080,"y":320,"wires":[["5344baf4.2ee944"]]},{"id":"178e4cf6.70b7b3","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":480,"y":400,"wires":[["5faacf82.859f2"]]},{"id":"d6536729.0bfd78","type":"function","z":"f0730477.741638","name":"Open(angle 0.01)","func":"var inputAngle = {\n \"data\": 0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":290,"y":400,"wires":[["178e4cf6.70b7b3","443bfbff.1ab424"]]},{"id":"1b4f8b32.45cf65","type":"function","z":"f0730477.741638","name":"object_position","func":"var inputPose = {\n \"position\": {\n \"x\": 0.25,\n \"y\": 0.0,\n \"z\": 0.04\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":460,"y":520,"wires":[[]]},{"id":"916578b9.627ed8","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"2","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":840,"y":400,"wires":[["e7574adb.14a178"]]},{"id":"e7574adb.14a178","type":"function","z":"f0730477.741638","name":"Close(angle -0.01)","func":"var inputAngle = {\n \"data\": -0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":1030,"y":400,"wires":[["41a7ee5.4cd4c1","443bfbff.1ab424"]]},{"id":"41a7ee5.4cd4c1","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":1240,"y":400,"wires":[["21627c3.b4ae884"]]},{"id":"21627c3.b4ae884","type":"function","z":"f0730477.741638","name":"up","func":"var inputPose = {\n \"position\": {\n \"x\": 0.2,\n \"y\": 0.0,\n \"z\": 0.25\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":150,"y":480,"wires":[["9d4e0336.e7642","eb4faf33.3767a"]]},{"id":"9d4e0336.e7642","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"3","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":300,"y":480,"wires":[["e929d2ff.04a4d"]]},{"id":"5faacf82.859f2","type":"function","z":"f0730477.741638","name":"down","func":"var inputPose = {\n \"position\": {\n \"x\": 0.2,\n \"y\": -0.2,\n \"z\": 0.05\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":650,"y":400,"wires":[["916578b9.627ed8","eb4faf33.3767a"]]},{"id":"7c1dbd7e.760394","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"2","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":640,"y":480,"wires":[["54c4aeef.92d6f"]]},{"id":"54c4aeef.92d6f","type":"function","z":"f0730477.741638","name":"Open(angle 0.01)","func":"var inputAngle = {\n \"data\": 0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":830,"y":480,"wires":[["24414558.4df1da","443bfbff.1ab424"]]},{"id":"db3cb5e7.f02758","type":"function","z":"f0730477.741638","name":"Init_Pose","func":"var inputPose = {\n \"position\": {\n \"x\": 0.15,\n \"y\": 0.0,\n \"z\": 0.2\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n}\nmsg.payload = inputPose;\nreturn msg;\n\n\n","outputs":1,"noerr":0,"x":1240,"y":480,"wires":[["eb4faf33.3767a"]]},{"id":"24414558.4df1da","type":"delay","z":"f0730477.741638","name":"","pauseType":"delay","timeout":"1","timeoutUnits":"seconds","rate":"1","nbRateUnits":"1","rateUnits":"second","randomFirst":"1","randomLast":"5","randomUnits":"seconds","drop":false,"x":1080,"y":480,"wires":[["db3cb5e7.f02758"]]},{"id":"c004790e.43e048","type":"xml","z":"f0730477.741638","name":"my_world.world parser","property":"payload","attr":"","chr":"","x":560,"y":720,"wires":[["70b1ea48.4ae3a4","884c9253.11e6c"]]},{"id":"82dc3829.2b2108","type":"file in","z":"f0730477.741638","name":"my_world.world","filename":"/home/siop/catkin_ws/src/open_manipulator_simulations/open_manipulator_gazebo/worlds/my_world.world","format":"utf8","chunk":false,"sendError":false,"encoding":"utf8","x":320,"y":720,"wires":[["c004790e.43e048"]]},{"id":"70b1ea48.4ae3a4","type":"function","z":"f0730477.741638","name":"find model position","func":"var inputmsg = msg.payload.sdf.world[0].include[2].pose[0];\n\nvar modelPose = {\n \"position\": {\n \"x\": Number(inputmsg.split(' ')[0]),\n \"y\": Number(inputmsg.split(' ')[1]),\n \"z\": 0.04\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n \n }\n}\n\nmsg.payload = modelPose;\nreturn msg;","outputs":1,"noerr":0,"x":830,"y":720,"wires":[["45fdc5e6.260c4c","eb4faf33.3767a"]]},{"id":"884c9253.11e6c","type":"debug","z":"f0730477.741638","name":"","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload.sdf.world[0].include[2].pose[0]","targetType":"msg","x":930,"y":840,"wires":[]},{"id":"c688e945.42e898","type":"xml","z":"f0730477.741638","name":"my_world.world parser","property":"payload","attr":"","chr":"","x":560,"y":780,"wires":[["c4899dd6.8cd96"]]},{"id":"e929d2ff.04a4d","type":"file in","z":"f0730477.741638","name":"my_world.world","filename":"/home/siop/catkin_ws/src/open_manipulator_simulations/open_manipulator_gazebo/worlds/my_world.world","format":"utf8","chunk":false,"sendError":false,"encoding":"utf8","x":320,"y":780,"wires":[["c688e945.42e898"]]},{"id":"c4899dd6.8cd96","type":"function","z":"f0730477.741638","name":"find model position","func":"var inputmsg = msg.payload.sdf.world[0].include[2].pose[0];\n\nvar modelPose = {\n \"position\": {\n \"x\": Number(inputmsg.split(' ')[0]),\n \"y\": Number(inputmsg.split(' ')[1]),\n \"z\": 0.04\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n \n }\n}\n\nmsg.payload = modelPose;\nreturn msg;","outputs":1,"noerr":0,"x":830,"y":780,"wires":[["7c1dbd7e.760394","eb4faf33.3767a"]]},{"id":"f70c05f9.404478","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":3,"width":"3","height":"1","passthru":false,"label":"InitialPose","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":190,"y":60,"wires":[["b01e2eb5.2fbed"]]},{"id":"d899aeae.891af","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":8,"width":"3","height":"1","passthru":false,"label":"HomePose","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":190,"y":120,"wires":[["e848c72e.d33748"]]},{"id":"b3d80c17.e6b77","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":9,"width":"3","height":"1","passthru":false,"label":"Routin1","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":120,"y":240,"wires":[["25854e9f.1dee02"]]},{"id":"129cfb1.8e2e305","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":10,"width":"3","height":"1","passthru":false,"label":"Routin2","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":110,"y":400,"wires":[["d6536729.0bfd78"]]},{"id":"c74775ba.bd4db8","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":1,"width":"3","height":"1","passthru":false,"label":"OPEN","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":150,"y":600,"wires":[["b9b16155.df73e"]]},{"id":"d43a8fc3.edb04","type":"ui_button","z":"f0730477.741638","name":"","group":"f3851a35.de7f68","order":2,"width":"3","height":"1","passthru":false,"label":"CLOSE","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"","payloadType":"str","topic":"","x":160,"y":640,"wires":[["1835ccec.63f353"]]},{"id":"b9b16155.df73e","type":"function","z":"f0730477.741638","name":"Open(angle 0.01)","func":"var inputAngle = {\n \"data\": 0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":430,"y":580,"wires":[["443bfbff.1ab424"]]},{"id":"1835ccec.63f353","type":"function","z":"f0730477.741638","name":"Close(angle -0.01)","func":"var inputAngle = {\n \"data\": -0.01\n}\nmsg.payload = inputAngle;\nreturn msg;","outputs":1,"noerr":0,"x":430,"y":640,"wires":[["443bfbff.1ab424"]]},{"id":"6c712bd8.953804","type":"ui_button","z":"f0730477.741638","name":"","group":"40d3d7c9.98c1b8","order":2,"width":"3","height":"1","passthru":false,"label":"start_stamp","tooltip":"","color":"","bgcolor":"#D96066","icon":"","payload":"true","payloadType":"bool","topic":"","x":170,"y":1160,"wires":[["9aeeb710.3a3d28"]]},{"id":"a1574b34.af84e8","type":"ui_button","z":"f0730477.741638","name":"","group":"40d3d7c9.98c1b8","order":3,"width":"3","height":"1","passthru":false,"label":"end_stamp","tooltip":"","color":"","bgcolor":"#D96066","icon":"","payload":"false","payloadType":"bool","topic":"","x":170,"y":1200,"wires":[["9aeeb710.3a3d28"]]},{"id":"2dc33b6a.2717c4","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/joint_angle_stamp","typepackage":"std_msgs","typename":"Bool","x":650,"y":1180,"wires":[]},{"id":"9aeeb710.3a3d28","type":"function","z":"f0730477.741638","name":"Start/End","func":"var inputStamp = {\n \"data\": msg.payload\n}\nmsg.payload = inputStamp;\nreturn msg;","outputs":1,"noerr":0,"x":340,"y":1180,"wires":[["2dc33b6a.2717c4"]]},{"id":"3044ca31.84d656","type":"ui_button","z":"f0730477.741638","name":"","group":"40d3d7c9.98c1b8","order":4,"width":"6","height":"1","passthru":false,"label":"Move by Point","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"true","payloadType":"bool","topic":"","x":180,"y":1280,"wires":[["63bed5c8.f9ddfc"]]},{"id":"a9b5aeb.225e55","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/hand_guide_move_point","typepackage":"std_msgs","typename":"Bool","x":750,"y":1280,"wires":[]},{"id":"63bed5c8.f9ddfc","type":"function","z":"f0730477.741638","name":"Hand Guide move Point","func":"var inputStamp = {\n \"data\": msg.payload\n}\nmsg.payload = inputStamp;\nreturn msg;","outputs":1,"noerr":0,"x":430,"y":1280,"wires":[["a9b5aeb.225e55"]]},{"id":"ae1acc44.59737","type":"ui_switch","z":"f0730477.741638","name":"","label":"ACTUATOR","tooltip":"","group":"40d3d7c9.98c1b8","order":1,"width":"6","height":"1","passthru":true,"decouple":"false","topic":"","style":"","onvalue":"true","onvalueType":"bool","onicon":"","oncolor":"","offvalue":"false","offvalueType":"bool","officon":"","offcolor":"","x":170,"y":1100,"wires":[["303c973a.9fdbb8"]]},{"id":"4bdf1e29.90f34","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/input_actuator_state","typepackage":"std_msgs","typename":"Bool","x":650,"y":1100,"wires":[]},{"id":"303c973a.9fdbb8","type":"function","z":"f0730477.741638","name":"Enable/Disable","func":"var inputActuatorState = {\n \"data\": msg.payload\n}\nmsg.payload = inputActuatorState;\nreturn msg;","outputs":1,"noerr":0,"x":350,"y":1100,"wires":[["4bdf1e29.90f34"]]},{"id":"59d5ad21.539ee4","type":"ui_button","z":"f0730477.741638","name":"","group":"40d3d7c9.98c1b8","order":4,"width":"6","height":"1","passthru":false,"label":"Move by Path","tooltip":"","color":"","bgcolor":"#5FAAD9","icon":"","payload":"true","payloadType":"bool","topic":"","x":180,"y":1360,"wires":[["fb21637f.b3f45"]]},{"id":"1d2366fe.08c4d9","type":"ros-publisher","z":"f0730477.741638","topicname":"/open_manipulator/hand_guide_move_path","typepackage":"std_msgs","typename":"Bool","x":750,"y":1360,"wires":[]},{"id":"fb21637f.b3f45","type":"function","z":"f0730477.741638","name":"Hand Guide move Path","func":"var inputStamp = {\n \"data\": msg.payload\n}\nmsg.payload = inputStamp;\nreturn msg;","outputs":1,"noerr":0,"x":430,"y":1360,"wires":[["1d2366fe.08c4d9"]]}]
- run node-red
$ node-redThen terminal shows you ... [info] Server now running at http://127.0.0.1:1880/ ... (defalt port : 1880)
-
Use your Internet browser to access the following address: http://localhost:1880/ui/
-
Open several terminal windows to launch ROS launch files.
If you want to use real robot, use following codes. Before entering the code, the robot must be connected to the computer.
$ roscore
$ roslaunch open_manipulator_controller open_manipulator_controller.launch
$ roslaunch open_manipulator_nodered_controller open_manipulator_nodered_controller.launchElse, if you want to use gazebo simulation, use following codes.
$ roscore
$ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false
$ roslaunch open_manipulator_nodered_controller open_manipulator_nodered_controller.launch- Control with Node-RED dashboard!