Turtlebot3新手教程：Open-Manipulator机械臂

*本文针对如何结合turtlebot3和Open-Manipulator机械臂做出讲解

测试在Ubuntu 16.04, Linux Mint 18.1和ROS Kinetic Kame下进行

具体步骤如下：

安装依赖包

sudo apt-get install ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core

安装open_manipulator

cd ~/catkin_ws/src/

git clone https://github.com/ROBOTIS-GIT/open_manipulator.git

cd ~/catkin_ws && catkin_make

在Gazebo环境中启动Open-Manipulator

roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

发布话题控制open_manipulator

rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once

新终端打开，在moveit中使用open_manipulator

roslaunch open_manipulator_moveit open_manipulator_demo.launch use_gazebo:=true

发布话题控制机械爪

rostopic pub /robotis/open_manipulator/gripper std_msgs/String "data: 'grip_on'" --once

机械臂平台：

启动dynamixel系列的Open-Manipulator

roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch

利用moveit控制

roslaunch open_manipulator_moveit open_manipulator_demo.launch

Turtlebot3-waffle结合Open-Manipulator

安装依赖:

cd ~/catkin_ws/src

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

cd ~/catkin_ws && catkin_make

启动rviz并显示模型

roslaunch open_manipulator_with_tb3 open_manipulator_chain_with_tb3_rviz.launch