2021-03-09 10:34:01 bostonrobot
Hi,
could you give me a overview or some guideline for how to use moveit to connect to opencr and connect to my mx64.
some background:
I build my robot arm which has 4 MX-64.
I am using VMware ubuntu to run ros-moveit, I build my urdf which is very similar to Open manipulator. I can run it moveit and gazebo.
I understand I need add a controller in moveit, in opercr, there are joint controller and joint state controller embeded,( please correct me if I am wrong).
My robot is attached
Rob
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2021-03-09 10:34:01 |
| bostonrobot | |
2021-03-11 16:45:37 Will Son
Hi,
I recommend to use MX-64(2.0) firmware which provides almost identical control table of X series.
In this way, you can use the existing OpenMANIPULATOR-X controllers without much hassle.
The embedded controller for OpenCR does not require ROS, but needed when running the manipulator from OpenCR or from the Processing.
If you want to run the manipulator through OpenCR, you should upload the usb_to_dxl Arduino sketch so that OpenCR can substitute U2D2 as a communication interface.
https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_setup/#opencr
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2021-03-11 16:45:37 |
| willson | |
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