ROS2与OpenManipulator-X入门教程#humble版#-控制板设置

文章说明

• 在ROS环境下，可以用U2D2和OpenCR控制板来控制OpenManipulator机械臂
• 本教程介绍如何设置U2D2和OpenCR控制板

相关设备

• 采购OpenManipulator-X机械臂

U2D2设置

• 设置USB延迟时间

$ ros2 run open_manipulator_x_bringup create_udev_rules

TIP: This entered command set USB latency timer to 1 ms. If you would like to see the setting, run the following command in a terminal. cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer

OpenCR设置

• 安装与配置Arduino IDE：参考链接

• 在Arduino IDE上找到usb to dxl示例

• File → Examples → OpenCR → 10.Etc → usb_to_dxl

• 将usb to dxl示例上传到OpenCR板上

• 出现jump_to＿fw表示上传成功

注：若上传时一直出现cmd_read_board_name fail: 0xF020的错误，请参考Turtlebot3中级教程-OpenCR固件恢复进行固件恢复

演示视频

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