Robotics and Manipulation II (2026)

🐋 Docker Environment Setup

Pre-requirements

It is necessary to run docker without sudo, run this command if it has not yet been done, log out and back in to proceed.

sudo usermod -aG docker $USER

Then, git clone this repo.

git clone https://github.com/snt-spacer/open_manipulator-RMinS.git

First Time Setup

cd docker
./container.sh start

Subsequent Sessions

cd docker  
./container.sh enter

🔧 Hardware Permissions

Run this command ONCE on the host system (outside docker) to enable USB communication:

sudo usermod -aG dialout $USER

Then log out and log back in for changes to take effect.

🏗️ Workspace Setup (First Time in Docker)

Build the Workspace

# In the docker container, run this once:
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Source the Workspace

# Run this every time you start a new terminal in docker:
source install/setup.bash

🤖 Hardware Setup

Create USB Device Rules

# Run this once to enable USB communication with the robot:
ros2 run open_manipulator_bringup om_create_udev_rules

🎮 Running the Systems

Simulation (Gazebo)

# Start Gazebo simulation:
ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

Real Robot

# Start real robot control:
ros2 launch open_manipulator_bringup open_manipulator_x.launch.py port_name:=/dev/ttyACM0

MoveIt Motion Planning

# For SIMULATION:
ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py use_sim:=true

# For REAL ROBOT:
ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py use_sim:=false

Robot Teleoperation

# Keyboard control for real robot:
ros2 run open_manipulator_teleop open_manipulator_x_teleop

🔍 Visualization and Debugging

Robot Visualization Only

# View robot model in RViz (stop other systems first):
ros2 launch open_manipulator_description open_manipulator_x.launch.py

🛠️ Troubleshooting

Display Issues

If Gazebo or other windows don't open, run this on the host system (outside docker):

xhost +

Common Problems

• USB not detected: Make sure you ran om_create_udev_rules and restarted your session
• MoveIt can't plan: Check if use_sim is set correctly (true for simulation, false for real robot)
• No robot in Gazebo: Ensure all previous ROS processes are stopped before starting new ones

📝 Important Notes

• Always source the workspace after building: source install/setup.bash
• Use use_sim:=true for simulation, use_sim:=false for real robot
• Stop all running ROS processes before starting new ones
• The real robot requires the USB cable to be connected to /dev/ttyACM0