but i find the KinematicsPose.h in the /catkin_ws/devel/include.

Hi,sorry to trouble you.I'm just confused that when i use the manipulator arm on moveit.i should have a driver package to receive joint_state and publish the action server.but i can not find the driver package on the ROBOTIS -GIT/ROBOTIS-MANIPULATOR-H.so can you give me some advice about the driver?
Thanks!

Hello, I am using roslaunch to open gazebo, but the manipulator model can't move in gazebo.
How can I do to let manipulator move in gazebo?

안녕하세요, manipulator-h를 사용하고 있는 유저입니다.

sudo apt-get install ros-kinetic-manipulator-h ros-kinetic-robotis* ros-kinetic-qt-build

를 실행하였으나, broken package라고 하며 설치가 되지 않습니다.

저는 ubuntu 16.04를 사용하고 있습니다. (ROS kinetic을 설치하였고, ros로 다른 플랫폼은 돌리는데 문제없었습니다.)

pls, check the following error
//////////////
$ sudo apt-get install ros-kinetic-manipulator-h
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-kinetic-manipulator-h

so, I tried git clone .. and catkin_make, which makes the following error.
///////////////
Scanning dependencies of target manipulator_h_manager
[ 97%] Building CXX object ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/src/manipulator_h_manager.cpp.o
In file included from /home/shsong/ros/manipulator/src/ROBOTIS-MANIPULATOR-H/manipulator_h_manager/src/manipulator_h_manager.cpp:38:0:
/home/shsong/ros/manipulator/src/ROBOTIS-MANIPULATOR-H/manipulator_h_base_module/include/manipulator_h_base_module/base_module.h:58:54: fatal error: manipulator_h_base_module_msgs/JointPose.h: No such file or directory
compilation terminated.
ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/build.make:62: recipe for target 'ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/src/manipulator_h_manager.cpp.o' failed
make[2]: *** [ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/src/manipulator_h_manager.cpp.o] Error 1
CMakeFiles/Makefile2:2252: recipe for target 'ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/all' failed
make[1]: *** [ROBOTIS-MANIPULATOR-H/manipulator_h_manager/CMakeFiles/manipulator_h_manager.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

thank you for your reading.

I am trying to install the package for the manipulator however i keep receiving errors that im not sure how to handle. After using the command:

sudo apt-get install ros-kinetic-manipulator-h ros-kinetic-robotis* ros-kinetic-qt-build

I receive the error:

Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-kinetic-robotis-framework : Depends: ros-kinetic-robotis-controller but it is not installable
E: Unable to correct problems, you have held broken packages.

Any information on how to solve this would be greatly appreciated.

Hello,

I have tried to install the packages without success so far. I am on Ubuntu 16.04 and Ros kinetic

• I've tried the apt-get command, but it says "Unable to locate package ros-kinetic-manipulator-h
  ". Is there a location I need to add to my sources.list?
• I've tried installing via both git clone, and by downloading the file, and I get the same error during catkin_make, telling me "Could not find the required component 'qt_build'". However this package does not appear to be available on ROS kinetic.

Hello

We have manipualtor-H .
It can be controlled with moveit pkg.
We also want to combine sync the rviz visualization and gazebo visualization. How to do it ?
I checked the moveit! manual-low level controller with ros-controller pkg. However, I found MANIPULATOR-H has no something like below.
/panda_arm_controller/follow_joint_trajectory/goal /panda_arm_controller/follow_joint_trajectory/feedback /panda_arm_controller/follow_joint_trajectory/result /hand_controller/gripper_action/goal /hand_controller/gripper_action/feedback /hand_controller/gripper_action/result
Do you have any idea?

안녕하세요.

Manipulator-H를 연구에 사용 중인 학생입니다.

사용환경
. Ubuntu 18.04 LTS
. ROS melodic

ROBOTIS에서 제공하는 ROS pkg를 다운받아서 gazebo launch를 실행할 때
제공하고 있는 doc 디렉토리의 Table을 보고 URDF의 inertial 부분을 수정하고 gazebo를 실행하면 모든 joint 위치가 [0, 0, 0]으로 바뀌는 것 같습니다. 해결 방법이 있을까요?

주석 처리된 부분을 수정했습니다.

gazebo 실행한 모습입니다.

I'm working on a project making use of the "ArmSDK" as described here, but I cannot seem to find the source files described in the documentation. See this picture.

Thanks

안녕하세요, 연구를 하려는 도중에 여쭤볼게 있어서 이렇게 글을 남깁니다.

현재 연구실에 UR3와 manipulator-h가 구비되어 있어 ur3로 gazebo로 하여금 시뮬레이션을 하였는데,
link끼리의 충돌이나 주변 환경과의 충돌이 있을 경우 그냥 뚫고 지나가거나 억지로 관절을 한계이상으로 틀어서 joint angle이 이상해지고, 초기화 시켜도 돌아오지 않습니다.

혹시 manipulator-H의 경우에는 gazebo로 시뮬레이션을 하게 되면, 링크(팔부분)끼리의 충돌이나 주변환경(땅이나 물건)과 충돌을 하게 되는 경우 알림(메세지나 토픽)을 주거나 특히 주변환경은 제가 코딩으로 하면 되지만 링크간의 충돌같은 경우에는 내부적으로 충돌하지 않도록 설계되어 있나요?

김원철 드림

Hi. There is probably a problem with the documentation of the Robotis Manipulator H. First of all, the Denavit Hartemberg table is not very clear and may be incorrect. What do you mean by "DXL Angle"? .
In the "6.6 Mass Property" section, the COG z-position of some links exceeds the length of the link.

The manipulator_h_manager node crashes with the following error whenever I run it,

`
SUMMARY

PARAMETERS

• /gazebo: False
• /gazebo_robot_name: robotis_manipulat...
• /init_file_path: /home/asimov/mani...
• /offset_table: /home/asimov/mani...
• /robot_file_path: /home/asimov/mani...
• /rosdistro: kinetic
• /rosversion: 1.12.13

NODES
/
manipulator_h_manager (manipulator_h_manager/manipulator_h_manager)

ROS_MASTER_URI=http://localhost:11311

process[manipulator_h_manager-1]: started with pid [14434]
[ INFO] [1525781629.963427602]: manager->init
/dev/ttyUSB0 added. (baudrate: 115200)
(/dev/ttyUSB0) [ID: 1] H54-100-S500-R added.
(/dev/ttyUSB0) [ID: 4] H54-100-S500-R added.
(/dev/ttyUSB0) [ID: 5] H54-100-S500-R added.
(/dev/ttyUSB0) [ID: 10] H42-20-S300-R added.
(/dev/ttyUSB0) [ID: 2] H42-20-S300-R added.
(/dev/ttyUSB0) [ID: 17] H42-20-S300-R added.
[manipulator_h_manager-1] process has died [pid 14434, exit code -11, cmd /home/asimov/manipulatorh/devel/lib/manipulator_h_manager/manipulator_h_manager __name:=manipulator_h_manager __log:=/home/asimov/.ros/log/5523c050-528f-11e8-9c78-e8de270f8bfc/manipulator_h_manager-1.log].
log file: /home/asimov/.ros/log/5523c050-528f-11e8-9c78-e8de270f8bfc/manipulator_h_manager-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
'

How to fix this issue?

Hi - do you have a recommendation on how to resolve this error? I'm following the instructions on this site -> http://emanual.robotis.com/docs/en/platform/manipulator_h/manipulator_ros_programming/#robotis-maipulator-ros

and using ubuntu on windows subsystem for linux. Thanks!

-- Found yaml-cpp, version 0.5.2
-- +++ processing catkin package: 'manipulator_h_gui'
-- ==> add_subdirectory(ROBOTIS-MANIPULATOR-H/manipulator_h_gui)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "qt_build" with any
of the following names:

qt_buildConfig.cmake
qt_build-config.cmake

Add the installation prefix of "qt_build" to CMAKE_PREFIX_PATH or set
"qt_build_DIR" to a directory containing one of the above files. If
"qt_build" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
ROBOTIS-MANIPULATOR-H/manipulator_h_gui/CMakeLists.txt:13 (find_package)

-- Could not find the required component 'qt_build'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "qt_build" with any
of the following names:

qt_buildConfig.cmake
qt_build-config.cmake

Add the installation prefix of "qt_build" to CMAKE_PREFIX_PATH or set
"qt_build_DIR" to a directory containing one of the above files. If
"qt_build" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
ROBOTIS-MANIPULATOR-H/manipulator_h_gui/CMakeLists.txt:13 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Whenever I run the manipulator_h_manager, the node fails throwing an error

Creating timer thread failed!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument

How to fix this?

I have purchased both the Manipulator-H and RH-P12-RH from Robotis, and am using ROS to connect with each device. I am able to operate both devices successfully when I do so independently, however, when I try to bring them up together I receive error messages.

Here is what I am running:

1. roslaunch manipulator_h_bringup robotis_manipulator.launch {runs successfully}
2. [another terminal], sudo bash and then roslaunch manipulator_h_manager manipulator_h_manager.launch {runs successfully}
3. [another terminal] roslaunch rh_p12_rn_manager rh_p12_rn_manager.launch }{see the following error messages, and attached log files}

Note: if I do not startup the Manipulator H (skip steps #1 and #2 above) the gripper loads without error and I am able to operate successfully.

Also, if I reverse the order, bringing up the RH-P12-RN first, I still get errors (in the manipulator manager load)

Can you please help me resolve this error?

Thanks,

Rob

logs.zip

This is failing the build such as: http://build.ros.org:8080/job/Kbin_djv8_dJv8__manipulator_h_gui__debian_jessie_arm64__binary/35/console

03:41:22 -- Found gtest sources under '/usr/src/gtest': gtests will be built
03:41:22 -- Using Python nosetests: /usr/bin/nosetests-2.7
03:41:23 -- catkin 0.7.3
03:41:28 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
03:41:28   Could not find a package configuration file provided by "cmake_modules"
03:41:28   with any of the following names:
03:41:28 
03:41:28     cmake_modulesConfig.cmake
03:41:28     cmake_modules-config.cmake
03:41:28 
03:41:28   Add the installation prefix of "cmake_modules" to CMAKE_PREFIX_PATH or set
03:41:28   "cmake_modules_DIR" to a directory containing one of the above files.  If
03:41:28   "cmake_modules" provides a separate development package or SDK, be sure it
03:41:28   has been installed.
03:41:28 Call Stack (most recent call first):
03:41:28   CMakeLists.txt:10 (find_package)
03:41:28 
03:41:28 
03:41:28 -- Could not find the required component 'cmake_modules'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
03:41:28 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
03:41:28   Could not find a package configuration file provided by "cmake_modules"
03:41:28   with any of the following names:
03:41:28 
03:41:28     cmake_modulesConfig.cmake
03:41:28     cmake_modules-config.cmake
03:41:28 
03:41:28   Add the installation prefix of "cmake_modules" to CMAKE_PREFIX_PATH or set
03:41:28   "cmake_modules_DIR" to a directory containing one of the above files.  If
03:41:28   "cmake_modules" provides a separate development package or SDK, be sure it
03:41:28   has been installed.
03:41:28 Call Stack (most recent call first):
03:41:28   CMakeLists.txt:10 (find_package)
03:41:28 
03:41:28 
03:41:28 -- Configuring incomplete, errors occurred!

Hello!

I'm trying to install specified ROS Manipulator H package and I encounter errors of dependencies.
Screenshot attached.

Briefly: Error installing ros-kinetic-manipulator-h - unmet dependencies.
ros-kinetic-manipulator-h-base-module, ros-kinetic-manipulator-h-manager are not installable.

process has died [pid 21983, exit code -11 . . .
The manager process dies exatly when tries to add the base module (controller->addMotionModule((robotis_framework::MotionModule*)BaseModule::getInstance());)

After fresh installation of following packages from git,

DynamixelSDK
ROBOTIS-Framework
ROBOTIS-Framework-msgs
ROBOTIS-Math
ROBOTIS-MANIPULATOR-H (This Package)

A gazebo simulation launched by running the following command:
roslaunch manipulator_h_gazebo manipulator_h_gazebo.launch

When running a following command the manager starts but tries to connect via serial port, despite the fact that GAZEBO parameter specified to be true.
roslaunch manipulator_h_manager manipulator_h_manager.launch gazebo:=true

Trying to confirm that the argument was received, I added a line to CPP file:

The output when running the command:

Full text:

yo@MELAB4-PC11:~/catkin_ws$ roslaunch manipulator_h_manager manipulator_h_manager.launch gazebo:=true
... logging to /home/yo/.ros/log/0dfbcc18-4f4d-11e7-a84d-902b34d1e8de/roslaunch-MELAB4-PC11-19178.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://MELAB4-PC11:38485/

SUMMARY

PARAMETERS

• /gazebo: True
• /gazebo_robot_name: robotis_manipulat...
• /init_file_path: /home/yo/catkin_w...
• /offset_table: /home/yo/catkin_w...
• /robot_file_path: /home/yo/catkin_w...
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES
/
manipulator_h_manager (manipulator_h_manager/manipulator_h_manager)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[manipulator_h_manager-1]: started with pid [19196]
[ INFO] [1497257883.687906619]: manager->init
[ WARN] [1497257883.690807721]: GAZEBO MODE = TRUE
/dev/ttyUSB0 added. (baudrate: 1000000)
[PortHandlerLinux::SetupPort] Error opening serial port!
(/dev/ttyUSB0) [ID: 1] H54-200-S500-R added.
(/dev/ttyUSB0) [ID: 2] H54-200-S500-R added.
(/dev/ttyUSB0) [ID: 3] H54-100-S500-R added.
(/dev/ttyUSB0) [ID: 4] H54-100-S500-R added.
(/dev/ttyUSB0) [ID: 5] H42-20-S300-R added.
(/dev/ttyUSB0) [ID: 6] H42-20-S300-R added.
[ INFO] [1497257883.727269311]: Load offsets...