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Merge pull request #340 from ROBOTIS-GIT/feature-unified-ai-omx
Support OMX
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‎docker/Dockerfile‎

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@@ -17,6 +17,7 @@ RUN apt-get update && apt-get install -y \
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libusb-1.0-0-dev \
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libglfw3-dev \
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ros-${ROS_DISTRO}-image-transport-plugins \
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ros-${ROS_DISTRO}-usb-cam \
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vim \
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nano \
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&& rm -rf /var/lib/apt/lists/*

‎open_manipulator/CHANGELOG.rst‎

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Changelog for package open_manipulator
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.8 (2025-09-03)
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------------------
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* Added camera_usb_cam launch file
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* Support OMX series
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* Removed unused use_sim_time parameter in the configuration files
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* Added OMY-F3M Leader and OMY-L100 Follower configuration files
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* Renamed ros2_control files to include operating mode
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* Added parameter for enabling spring effect
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* Added parameters about scaling factors for input joint velocities and accelerations
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* Added usb-cam package dependency in Dockerfile
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* Contributors: Woojin Wie, Junha Cha, Wonho Yun
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4.0.7 (2025-07-17)
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------------------
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* Fixed joint offset functionality of joint trajectory command broadcaster

‎open_manipulator/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>open_manipulator</name>
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<version>4.0.7</version>
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<version>4.0.8</version>
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<description>
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OpenMANIPULATOR meta ROS 2 package.
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</description>

‎open_manipulator_bringup/CHANGELOG.rst‎

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Changelog for package open_manipulator_bringup
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.8 (2025-09-03)
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------------------
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* Added camera_usb_cam launch file
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* Support OMX series
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* Removed unused use_sim_time parameter in the configuration files
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* Added OMY-F3M Leader and OMY-L100 Follower configuration files
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* Contributors: Woojin Wie, Junha Cha
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4.0.7 (2025-07-17)
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------------------
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* Updated launch files for OMY Packing and Unpacking

‎open_manipulator_bringup/config/omx_f/hardware_controller_manager.yaml‎

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/**:
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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gripper_controller:
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type: position_controllers/GripperActionController
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/**:
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arm_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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interface_name: position
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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allow_partial_joints_goal: true
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/**:
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gripper_controller:
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ros__parameters:
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joint: gripper_joint_1

‎open_manipulator_bringup/config/omx_f/initial_positions.yaml‎

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joint_trajectory_executor:
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ros__parameters:
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joint_names:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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step_names: [step1, step2] # Names of the steps
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step1: [0.0, 0.0, 0.0, 0.0, 0.0]
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step2: [0.0, -1.57, 1.57, 1.57, 0.0]
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duration: 5.0
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epsilon: 0.15
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action_topic: '/arm_controller/follow_joint_trajectory'
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joint_states_topic: '/joint_states'

‎open_manipulator_bringup/config/omx_f_follower_ai/hardware_controller_manager.yaml‎

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/**:
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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/**:
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arm_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- gripper_joint_1
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interface_name: position
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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allow_partial_joints_goal: true

‎open_manipulator_bringup/config/omx_f_follower_ai/initial_positions.yaml‎

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joint_trajectory_executor:
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ros__parameters:
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joint_names:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- gripper_joint_1
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step_names: [step1, step2] # Names of the steps
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step1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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step2: [0.0, -1.57, 1.57, 1.57, 0.0, 0.0]
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duration: 5.0
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epsilon: 0.15
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action_topic: '/arm_controller/follow_joint_trajectory'
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joint_states_topic: '/joint_states'

‎open_manipulator_bringup/config/omx_l_leader_ai/hardware_controller_manager.yaml‎

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/**:
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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gravity_compensation_controller:
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type: gravity_compensation_controller/GravityCompensationController
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trigger_position_controller:
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type: position_controllers/JointGroupPositionController
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joint_trajectory_command_broadcaster:
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type: joint_trajectory_command_broadcaster/JointTrajectoryCommandBroadcaster
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/**:
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gravity_compensation_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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kinetic_friction_scalars:
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- 0.0005
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- 0.15
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- 0.15
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- 0.15
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- 0.15
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torque_scaling_factors:
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- 200.0
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- 350.0
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- 300.0
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- 300.0
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- 300.0
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input_velocity_scaling_factors:
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- 1.0
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- 0.1
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- 0.1
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- 0.1
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- 0.1
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input_acceleration_scaling_factors:
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- 0.2
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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friction_compensation_velocity_thresholds:
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- 100.0
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- 3.5
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- 3.5
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- 3.5
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- 3.5
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- 3.5
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/**:
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trigger_position_controller:
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ros__parameters:
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joints:
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- gripper_joint_1
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/**:
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joint_trajectory_command_broadcaster:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- gripper_joint_1
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interfaces:
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- position
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reverse_joints:
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- gripper_joint_1
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offsets:
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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- 0.0

‎open_manipulator_bringup/config/omy_3m/hardware_controller_manager.yaml‎

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/**:
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controller_manager:
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ros__parameters:
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use_sim_time: False
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update_rate: 400 # Hz
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thread_priority: 40
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cpu_affinity: [1, 2, 3]

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