{"id":20969187,"url":"https://github.com/nepfaff/open_manipulator_tenaci","last_synced_at":"2026-04-29T02:09:21.602Z","repository":{"id":141278209,"uuid":"457573608","full_name":"nepfaff/open_manipulator_tenaci","owner":"nepfaff","description":"ROS Noetic package for interacting with the OpenManipulator-X Gazebo simulation","archived":false,"fork":false,"pushed_at":"2022-02-23T19:39:43.000Z","size":46,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-01-20T02:57:57.444Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/nepfaff.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-02-10T00:21:49.000Z","updated_at":"2024-03-15T04:01:48.000Z","dependencies_parsed_at":null,"dependency_job_id":"b0b9a913-b5e9-42d9-983e-cf67f188e9a7","html_url":"https://github.com/nepfaff/open_manipulator_tenaci","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nepfaff%2Fopen_manipulator_tenaci","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nepfaff%2Fopen_manipulator_tenaci/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nepfaff%2Fopen_manipulator_tenaci/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nepfaff%2Fopen_manipulator_tenaci/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/nepfaff","download_url":"https://codeload.github.com/nepfaff/open_manipulator_tenaci/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243365578,"owners_count":20279212,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-19T03:18:53.564Z","updated_at":"2025-12-29T02:23:39.534Z","avatar_url":"https://github.com/nepfaff.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# open_manipulator_tenaci\n\nROS Noetic package for interacting with the OpenManipulator-X Gazebo simulation.\nMainly used as a helping tool for developing a low-level MATLAB robotic manipulation system based on the OpenManipulator-X robot.\n\n## Installing Dependencies\n\n1. Install Ubuntu \u003e= 20.04\n2. Install ROS Noetic\n3. Install [OpenManipulator-X ROS packages](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/) (select Noetic version)\n4. Clone this repository into the ROS Noetic workspace `/src` directory\n5. Run `catkin_make install` from the ROS Noetic workspace\n\n## Usage\n\n1. Open a new terminal and navigate to your ROS Noetic workspace\n2. Run `source devel/setup.bash` from the ROS Noetic workspace (this must be repeated whenever opening a new terminal, could add to `~/.bashrc` for convenience)\n3. Launch Gazebo: `roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch`\n4. Start Gazebo using the play button (see [docs](http://gazebosim.org/tutorials?tut=guided_b2\u0026cat=) for more info)\n5. Run a ROS node from this (`open_manipulator_tenaci`) package, for example: `rosrun open_manipulator_tenaci static_servo_angle_publisher.py` where `static_servo_angle_publisher.py` should be replaced with the desired ROS node\n\n## Development\n\n1. Add a new ROS node to `open_manipulator_tenaci/scripts`\n2. Add a `catkin_install_python(...)` clause to `CMakeLists.txt`\n3. Run `catkin_make install` from the ROS Noetic workspace (this must only be run once for Python nodes and after every change for C++ nodes)\n4. The new ROS node is now ready to use\n\n## Available ROS nodes\n\n- `static_servo_angle_publisher.py`\n  - Publishes static angles in radians for each of the 5 servos to the relevant Gazebo topics. Also prints the corresponding tool pose using forward kinematics. Changing the published angles requires modifying the source code.\n- `static_tool_pose_follower.py`\n  - Publishes joint angles corresponding to a static pose. Uses analytical inverse kinematics. Also prints the corresponding tool pose using forward kinematics. Changing the pose requires modifying the source code.\n- `waypoint_follower.py`\n  - Follows a static sequence of waypoints. Changing the waypoints requires changing the source code.\n- `waypoint_follower_with_task_space_interpolation.py`\n  - Follows a static sequence of waypoints by first converting them into set points using cubic task space trajectories. Changing the waypoints requires changing the source code.\n  ","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnepfaff%2Fopen_manipulator_tenaci","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnepfaff%2Fopen_manipulator_tenaci","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnepfaff%2Fopen_manipulator_tenaci/lists"}