# 6.2.1. Manipulator Description

{% hint style="info" %}
備註：

* 以下說明已在 **Ubuntu 16.04** 和 **ROS Kinetic Kame** 上進行了測試。
* 本節指令應該要在安裝 ROS 套件的 PC 上運行。請確認是在安裝 ROS 套件的 PC 運行以下指令。&#x20;
* 在運行以下指令之前，請確保已經先運行 [**OpenMANIPULATOR-X controller** ](http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_controller_package/#launch-controller)控制器指令。
  {% endhint %}

發布 topic message 以檢查 OpenMANIPULATOR-X 的設置。

```
$ rostopic pub /open_manipulator/option std_msgs/String "print_open_manipulator_setting"
```

**\<Manipulator Description>** 將會顯使在 terminal 視窗上。啟動open\_manipulator\_controller。就會顯示 OpenMANIPULATOR-X 的當前狀態。

此參數在 open\_manipulator\_libs 套件中的 open\_manipulator.cpp 上進行了描述。

* \~/catkin\_ws/src/open\_manipulator/open\_manipulator\_libs/src/open\_manipulator.cpp

```
 ----------<Manipulator Description>----------
    <Degree of freedom>
    4.000
    <Size of Components>
    5.000

    <Configuration of world>
    [Name]
    -World Name : world
    -Child Name : joint1
    [Static Pose]
    -Position :
    (0.000, 0.000, 0.000)
    -Orientation :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    [Dynamic Pose]
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)

    <Configuration of gripper>
    [Component Type]
      Tool
    [Name]
    -Parent Name : joint4
    [Actuator]
    -Actuator Name : tool_dxl
    -ID :  15
    -Joint Axis :
    (0.000, 0.000, 0.000)
    -Coefficient :  -0.015
    -Limit :
        Maximum : 0.010, Minimum : -0.010
    [Actuator Value]
    -Value :  0.008
    -Velocity :  0.000
    -Acceleration :  0.000
    -Effort :  0.000
    [Constant]
    -Relative Position from parent component :
    (0.130, 0.000, 0.000)
    -Relative Orientation from parent component :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Mass :  0.000
    -Inertia Tensor :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Center of Mass :
    (0.000, 0.000, 0.000)
    [Variable]
    -Position :
    (0.138, -0.005, 0.015)
    -Orientation :
    (-0.006, 0.043, 0.999
    0.000, 0.999, -0.043
    -1.000, 0.000, -0.006)
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)

    <Configuration of joint1>
    [Component Type]
      Active Joint
    [Name]
    -Parent Name : world
    -Child Name 1 : joint2
    [Actuator]
    -Actuator Name : joint_dxl
    -ID :  11
    -Joint Axis :
    (0.000, 0.000, 1.000)
    -Coefficient :  1.000
    -Limit :
        Maximum : 3.142, Minimum : -3.142
    [Actuator Value]
    -Value :  -0.043
    -Velocity :  0.000
    -Acceleration :  0.000
    -Effort :  0.000
    [Constant]
    -Relative Position from parent component :
    (0.012, 0.000, 0.017)
    -Relative Orientation from parent component :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Mass :  0.000
    -Inertia Tensor :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Center of Mass :
    (0.000, 0.000, 0.000)
    [Variable]
    -Position :
    (0.012, 0.000, 0.017)
    -Orientation :
    (0.999, 0.043, 0.000
    -0.043, 0.999, 0.000
    0.000, 0.000, 1.000)
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)

    <Configuration of joint2>
    [Component Type]
      Active Joint
    [Name]
    -Parent Name : joint1
    -Child Name 1 : joint3
    [Actuator]
    -Actuator Name : joint_dxl
    -ID :  12
    -Joint Axis :
    (0.000, 1.000, 0.000)
    -Coefficient :  1.000
    -Limit :
        Maximum : 1.571, Minimum : -2.050
    [Actuator Value]
    -Value :  -0.052
    -Velocity :  0.000
    -Acceleration :  0.000
    -Effort :  0.000
    [Constant]
    -Relative Position from parent component :
    (0.000, 0.000, 0.058)
    -Relative Orientation from parent component :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Mass :  0.000
    -Inertia Tensor :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Center of Mass :
    (0.000, 0.000, 0.000)
    [Variable]
    -Position :
    (0.012, 0.000, 0.075)
    -Orientation :
    (0.998, 0.043, -0.052
    -0.043, 0.999, 0.002
    0.052, 0.000, 0.999)
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)

    <Configuration of joint3>
    [Component Type]
      Active Joint
    [Name]
    -Parent Name : joint2
    -Child Name 1 : joint4
    [Actuator]
    -Actuator Name : joint_dxl
    -ID :  13
    -Joint Axis :
    (0.000, 1.000, 0.000)
    -Coefficient :  1.000
    -Limit :
        Maximum : 1.530, Minimum : -1.571
    [Actuator Value]
    -Value :  0.546
    -Velocity :  0.000
    -Acceleration :  0.000
    -Effort :  0.000
    [Constant]
    -Relative Position from parent component :
    (0.024, 0.000, 0.128)
    -Relative Orientation from parent component :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Mass :  0.000
    -Inertia Tensor :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Center of Mass :
    (0.000, 0.000, 0.000)
    [Variable]
    -Position :
    (0.029, -0.001, 0.204)
    -Orientation :
    (0.880, 0.043, 0.474
    -0.038, 0.999, -0.020
    -0.474, 0.000, 0.880)
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)

    <Configuration of joint4>
    [Component Type]
      Active Joint
    [Name]
    -Parent Name : joint3
    -Child Name 1 : gripper
    [Actuator]
    -Actuator Name : joint_dxl
    -ID :  14
    -Joint Axis :
    (0.000, 1.000, 0.000)
    -Coefficient :  1.000
    -Limit :
        Maximum : 2.000, Minimum : -1.800
    [Actuator Value]
    -Value :  1.083
    -Velocity :  0.000
    -Acceleration :  0.000
    -Effort :  -2.690
    [Constant]
    -Relative Position from parent component :
    (0.124, 0.000, 0.000)
    -Relative Orientation from parent component :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Mass :  0.000
    -Inertia Tensor :
    (1.000, 0.000, 0.000
    0.000, 1.000, 0.000
    0.000, 0.000, 1.000)
    -Center of Mass :
    (0.000, 0.000, 0.000)
    [Variable]
    -Position :
    (0.138, -0.005, 0.145)
    -Orientation :
    (-0.006, 0.043, 0.999
    0.000, 0.999, -0.043
    -1.000, 0.000, -0.006)
    -Linear Velocity :
    (0.000, 0.000, 0.000)
    -Linear acceleration :
    (0.000, 0.000, 0.000)
    -Angular Velocity :
    (0.000, 0.000, 0.000)
    -Angular acceleration :
    (0.000, 0.000, 0.000)
    ---------------------------------------------
```
