Update for the new OM-Y Follower hardware

open_manipulator/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package open_manipulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.2.0 (2025-04-09)
+------------------
+* Updated OM-Y Follower for improved joint initialization and action-based ROS2 control
+* Contributors: Woojin Wie
+
 3.1.0 (2025-03-17)
 ------------------
 * Integrate OM-X, OM-Y, and OM-Teleoperation with Jazzy support and Gazebo Harmonic compatibility

open_manipulator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
     OpenMANIPULATOR meta ROS 2 package.
   </description>

open_manipulator_bringup/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package open_manipulator_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.2.0 (2025-04-09)
+------------------
+* Updated OM-Y Follower for improved joint initialization and action-based ROS2 control
+* Contributors: Woojin Wie
+
 3.1.0 (2025-03-17)
 ------------------
 * Integrate OM-X, OM-Y, and OM-Teleoperation with Jazzy support and Gazebo Harmonic compatibility

open_manipulator_bringup/CMakeLists.txt

@@ -22,14 +22,10 @@ install(FILES open-manipulator-x-cdc.rules
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(FILES open-manipulator-y-cdc.rules
-  DESTINATION share/${PROJECT_NAME}
-)
-
 install(PROGRAMS scripts/x_create_udev_rules
-  scripts/y_create_udev_rules
-  scripts/init_position_for_x.py
-  scripts/init_position_for_follower.py
+  scripts/init_position_x.py
+  scripts/init_position_y_follower.py
+  scripts/pack_unpack_y.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

open_manipulator_bringup/launch/ai_teleoperation.launch.py

@@ -29,7 +29,7 @@ def generate_launch_description():
 
     # Step 2: Run the initialization script for the follower
     init_follower = ExecuteProcess(
-        cmd=["ros2", "run", "open_manipulator_bringup", "init_position_for_follower.py"],
+        cmd=["ros2", "run", "open_manipulator_bringup", "init_position_y_follower.py"],
         output="screen",
         shell=True
     )
@@ -50,7 +50,7 @@ def generate_launch_description():
             OnProcessStart(
                 target_action=start_follower,
                 on_start=[
-                    LogInfo(msg="✅ hardware_y_follower.launch.py has fully started. Running init_position_for_follower.py..."),
+                    LogInfo(msg="✅ hardware_y_follower.launch.py has fully started. Running init_position_y_follower.py..."),
                     init_follower
                 ]
             )
@@ -61,7 +61,7 @@ def generate_launch_description():
             OnProcessExit(
                 target_action=init_follower,
                 on_exit=[
-                    LogInfo(msg="✅ init_position_for_follower.py has fully executed and exited. Starting hardware_y_leader.launch.py..."),
+                    LogInfo(msg="✅ init_position_y_follower.py has fully executed and exited. Starting hardware_y_leader.launch.py..."),
                     start_leader
                 ]
             )

open_manipulator_bringup/launch/hardware_x.launch.py

@@ -34,7 +34,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_fake_hardware', default_value='false', description='Use fake hardware mirroring command.'),
         DeclareLaunchArgument('fake_sensor_commands', default_value='false', description='Enable fake sensor commands.'),
         DeclareLaunchArgument('port_name', default_value='/dev/ttyUSB0', description='Port name for hardware connection.'),
-        DeclareLaunchArgument('run_init_position', default_value='true', description='Run init_position_for_x.py after launch')
+        DeclareLaunchArgument('run_init_position', default_value='true', description='Run init_position_x.py after launch')
     ]
 
     # Launch configurations
@@ -143,7 +143,7 @@ def generate_launch_description():
         period=3.0,
         actions=[
             ExecuteProcess(
-                cmd=['ros2', 'run', 'open_manipulator_bringup', 'init_position_for_x.py'],
+                cmd=['ros2', 'run', 'open_manipulator_bringup', 'init_position_x.py'],
                 output='screen',
                 condition=IfCondition(run_init_position)
             )

open_manipulator_bringup/launch/hardware_y_follower.launch.py

@@ -28,13 +28,13 @@
 def generate_launch_description():
     # Declare launch arguments
     declared_arguments = [
-        DeclareLaunchArgument('start_rviz', default_value='true', description='Whether to execute rviz2'),
+        DeclareLaunchArgument('start_rviz', default_value='false', description='Whether to execute rviz2'),
         DeclareLaunchArgument('prefix', default_value='""', description='Prefix of the joint and link names'),
         DeclareLaunchArgument('use_sim', default_value='false', description='Start robot in Gazebo simulation.'),
         DeclareLaunchArgument('use_fake_hardware', default_value='false', description='Use fake hardware mirroring command.'),
         DeclareLaunchArgument('fake_sensor_commands', default_value='false', description='Enable fake sensor commands.'),
-        DeclareLaunchArgument('port_name', default_value='/dev/ttyACM0', description='Port name for hardware connection.'),
-        DeclareLaunchArgument('run_init_position', default_value='true', description='Run init_position.py after launch')
+        DeclareLaunchArgument('port_name', default_value='/dev/ttyAMA2', description='Port name for hardware connection.'),
+        DeclareLaunchArgument('run_init_position', default_value='false', description='Run init_position.py after launch')
     ]
 
     # Launch configurations
@@ -50,7 +50,7 @@ def generate_launch_description():
     urdf_file = Command([
         PathJoinSubstitution([FindExecutable(name='xacro')]),
         ' ',
-        PathJoinSubstitution([FindPackageShare('open_manipulator_description'), 'urdf', 'om_y', 'open_manipulator_y.urdf.xacro']),
+        PathJoinSubstitution([FindPackageShare('open_manipulator_description'), 'urdf', 'om_y_follower', 'open_manipulator_y_follower.urdf.xacro']),
         ' ',
         'prefix:=', prefix,
         ' ',

open_manipulator_bringup/launch/pack_y.launch.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+#
+# Copyright 2024 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Sungho Woo, Woojin Wie
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, LogInfo, RegisterEventHandler
+from launch.event_handlers import OnProcessStart, OnProcessExit
+
+def generate_launch_description():
+    # Step 1: Start follower launch file
+    start_y = ExecuteProcess(
+        cmd=["ros2", "launch", "open_manipulator_bringup", "hardware_y_follower.launch.py"],
+        output="screen"
+    )
+
+    # Step 2: Run the initialization script for the follower with pack mode
+    pack_y = ExecuteProcess(
+        cmd=["ros2", "run", "open_manipulator_bringup", "pack_unpack_y.py", "--mode", "pack"],
+        output="screen",
+        shell=True
+    )
+
+    return LaunchDescription([
+        LogInfo(msg="🚀 Starting hardware_y_follower.launch.py..."),
+        start_y,
+
+        # Step 2: Ensure pack_y starts only after start_y is fully launched
+        RegisterEventHandler(
+            OnProcessStart(
+                target_action=start_y,
+                on_start=[
+                    LogInfo(msg="✅ hardware_y_follower.launch.py has fully started. Running pack_y.launch.py..."),
+                    pack_y
+                ]
+            )
+        ),
+    ])

open_manipulator_bringup/launch/unpack_y.launch.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+#
+# Copyright 2024 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Sungho Woo, Woojin Wie
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, LogInfo, RegisterEventHandler
+from launch.event_handlers import OnProcessStart, OnProcessExit
+
+def generate_launch_description():
+    # Step 1: Start follower launch file
+    start_y = ExecuteProcess(
+        cmd=["ros2", "launch", "open_manipulator_bringup", "hardware_y_follower.launch.py"],
+        output="screen"
+    )
+
+    # Step 2: Run the initialization script for the follower with unpack mode
+    unpack_y = ExecuteProcess(
+        cmd=["ros2", "run", "open_manipulator_bringup", "pack_unpack_y.py", "--mode", "unpack"],
+        output="screen",
+        shell=True
+    )
+
+    return LaunchDescription([
+        LogInfo(msg="🚀 Starting hardware_y_follower.launch.py..."),
+        start_y,
+
+        # Step 2: Ensure unpack_y starts only after start_y is fully launched
+        RegisterEventHandler(
+            OnProcessStart(
+                target_action=start_y,
+                on_start=[
+                    LogInfo(msg="✅ hardware_y_follower.launch.py has fully started. Running unpack_y.launch.py..."),
+                    unpack_y
+                ]
+            )
+        ),
+    ])

open_manipulator_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_bringup</name>
-  <version>3.0.0</version>
+  <version>3.2.0</version>
   <description>
     OpenMANIPULATOR bringup ROS 2 package.
   </description>