Omron Mobile Manipulator

Original packages are from OmronAPAC

This repository allows controlling the Base, Arm and Gripper of the Omron Mobile Manipulator using packages,

• tmr_ros2 package
• omron_amr package
• omron_gripper package

For supported features and limitations, see the individual repositories on the features supported by the MoMa.

Branch Status

Branch	ROS2 Version	Compile
main	Jazzy
develop	Jazzy
humble	Humble

Device Configuration

The robot expects the remote PC to be configured with the following IP address to connect to the robot,

IP Address : 192.168.1.50 Subnet Mask : 255.255.255.0

Setup

Create a workspace

mkdir -p omron_ws/src
cd omron_ws/src

Install dependencies

sudo apt install ros-humble-moveit ros-humble-controller-manager ros-humble-joint-trajectory-controller ros-humble-joint-state-broadcaster ros-humble-rmw-cyclonedds-cpp ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui ros-humble-vision-opencv ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-toolbox

pip install pymodbus

Clone the repositories into the src folder by

git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git
git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git
git clone https://github.com/CollaborativeRoboticsLab/omron_gripper.git
git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git

finally build by

cd ..
colcon build

or save time and use devcontainer

Launch Parameters

The top-level launch entry point is ros2 launch moma_ros ld250_tm12x.launch.py.

Parameter	Default	Description
tm_use_simulation	false	Runs the TM arm bringup in simulation mode instead of connecting to the physical arm.
tm_robot_ip	192.168.1.2	IP address of the TM arm controller.
use_arm	true	Starts the TM arm hardware stack. If false, the arm hardware and MoveIt are not started.
use_base	true	Starts the AMR base hardware stack. If false, the base hardware and Nav2 are not started.
use_rviz	false	Starts RViz. When enabled, the launch automatically chooses the MoveIt RViz layout if the arm and MoveIt are active, otherwise it uses the Nav2 RViz layout.
use_moveit	true	Starts MoveIt for the arm. This is only effective when use_arm:=true.
use_nav2	true	Starts Nav2 for the mobile base. This is only effective when use_base:=true.

Usage

Start the full system headless

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py

Start the full system with RVIZ

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py use_rviz:=true

Start the full system without Nav2 or Moveit to evaluate the Hardware connection

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py use_nav2:=false use_moveit:=false

Start the ARM only to control Arm and Gripper using RVIZ

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py use_base:=false use_rviz:=true

Start the base only to control just the base using RVIZ

source install/setup.bash
ros2 launch moma_ros ld250_tm12x.launch.py use_arm:=false use_rviz:=true

Docker

Clone this reposiotory

git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git 
cd omron_moma/docker

Pull the Docker image and start compose (No need to run docker compose build)

docker compose pull
docker compose up

To clean the system,

docker compose down

To generate a new urdf file,

1. Define a xacro file within moma_description/xacro that imports and customises parts and joints as reqired.
2. Run the following command to generate the urdf file. replace the <filename> with required name.

ros2 run xacro xacro src/omron_moma/moma_description/xacro/<filename>.urdf.xacro -o <filename>.urdf

eg

ros2 run xacro xacro src/omron_moma/moma_description/xacro/ld250_tm12x.urdf.xacro -o ld250_tm12x.urdf

3. This would generate the file in the root of the workspace. Move the file into moma_description/urdf folder

To Do List

• Update launch files to use standard parameters and remove non-launch related python code
• Create cascadeing launch files for TMDriver, Moveit and RVIZ, AMR base and RVIZ