RM-X52-TNM · U2D2 · Ubuntu 24.04 · ROS 2 Jazzy
Assemble and keyboard-control OpenMANIPULATOR-X
Assemble the arm from its public manual, connect through U2D2 and control joints and the gripper with ROS 2 Jazzy.
Multi-module setup and debugging
What you will build
Connect a physical arm, start its controller and operate it from a keyboard.
Before you start
- Know Linux terminal use, software installation and ROS basics. Follow mechanical and power-connection diagrams.
Model and software requirements
- Selected route: RM-X52-TNM kit, U2D2, Ubuntu 24.04 and ROS 2 Jazzy. Use the Jazzy tab in the original documentation.
- Code reference: jazzy branch, snapshot 9f84095404d3e596267cd520e90963011059ebf6. The web guide can change independently.
- Do not combine OpenCR, Arduino, Noetic or Humble commands with this configuration.
Similar products, older hardware and other software versions are not automatically interchangeable.
Materials & equipment checklist
Check items as you prepare them. Follow each source for part specifications, kit contents and assembly requirements.
0 of 6 required materials ready
Checks stay on this page only and are not uploaded. Refreshing or leaving resets them.
Required materials
- × 1
The maker's complete BOM includes five XM430-W350-T actuators, frames, gripper, cables, fasteners and tools.
Material referencehttps://docs.robotis.com/docs/systems/openmanipulator_x/assembly/ - × 1
Selected interface for this route; verify whether a Starter Set already includes it.
Material referencehttps://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide/ - × 1
Use the documented U2D2 power connection arrangement.
Material referencehttps://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide/ - × 1
The official recommendation; check whether the selected Starter Set includes it.
Material referencehttps://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide/ - × 1
Prepare a stable fixing method. Base Plate-02 is an official optional accessory, not assumed to be in every kit.
Material referencehttps://docs.robotis.com/docs/systems/openmanipulator_x/assembly/ - × 1
Match the actual U2D2 connector: products changed from Micro-B to USB-C in August 2025. Check the Starter Set contents.
Material referencehttps://emanual.robotis.com/docs/en/parts/interface/u2d2/
Equipment & tools
- A compatible Ubuntu 24.04 computer, a stable mounting arrangement and the kit's specified tools. Use the selected U2D2 route rather than mixing interface options.
Build route
Follow the original instructions in order. This overview does not replace wiring diagrams or calibration procedures.
- 1
Check the kit and interface
Confirm the arm, U2D2, power arrangement and mounting hardware.
Open this step - 2
Assemble from the manual
Check the complete parts table and use the maker's assembly manual or video.
Open this step - 3
Prepare Jazzy
Follow one official installation route under the Jazzy tab for the selected system.
Open this step - 4
Configure communication
Follow U2D2 wiring, permissions and actuator configuration instructions.
Open this step - 5
Start the controller
Check the initial pose before enabling torque, then launch the documented controller.
Open this step - 6
Use keyboard teleoperation
Use the official keyboard program to test joints and the gripper separately.
Open this step
First-run checks
- Joint states are received without actuator communication errors.
- Keyboard inputs produce the intended joint movements and gripper opening or closing.
Outside this project's scope
- This route does not include vision, autonomous sorting or industrial deployment. It is an advanced learning setup.
Assembly and operation notes
- Controller startup enables actuator torque. Follow the original initial-pose check before startup.
- A custom build needs matching actuator settings; the gripper's specified control mode must be checked, not inferred from a similar motor.
What to include in your budget
- Count any interface, power supply and base missing from the chosen bundle, plus the computer and shipping. Do not assume all products called an arm kit include these items.
Original documentation and code
- Complete BOM and assemblyPublic resourcehttps://docs.robotis.com/docs/systems/openmanipulator_x/assembly/
- Official downloadable assembly manualPublic resourcehttps://www.robotis.com/service/download.php?no=1255
- Jazzy setup and U2D2 interfacePublic resourcehttps://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide/
- U2D2 versions and connectorsPublic resourcehttps://emanual.robotis.com/docs/en/parts/interface/u2d2/
- Controller and keyboard operationPublic resourcehttps://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide/basic_operation/
- Jazzy source snapshotPublic resourcehttps://github.com/ROBOTIS-GIT/open_manipulator/tree/9f84095404d3e596267cd520e90963011059ebf6
Sources accessed: 2026-10-14. This page is compiled from the original documentation and has not been hardware-tested by RoboFacet. Check the original source for kit contents, prices and software updates.