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Moveit!機(jī)械臂控制

文件下載-古月ROS教程視頻配套資料

解決Could not find a package configuration file provided by “manipulation_msgs“

moveIt之Unable to identify any set of controllers that can actuate the specified joints問(wèn)題解決

Unable to identify any set of controllers that can actuate the specified joints: joint1 joint2 ...出錯(cuò)

環(huán)境配置

Ubuntu 18.04 melodic

成果圖Part 1: Rviz 機(jī)械臂仿真step1: 下載機(jī)械臂模型

下載地址

文件下載-古月ROS教程視頻配套資料

step2: 創(chuàng)建工作空間

mkdir -p 6R_mechanical_arm/srccd 6R_mechanical_armcatkin_make

step3: src文件夾

將之前下載的機(jī)械臂模型中 description、gazebo、planning文件夾復(fù)制到 src文件夾下

step4: 在 rviz 中顯示機(jī)械臂模型

在終端中運(yùn)行 roscore

在工作空間 6R_mechanical_arm 中打開(kāi)終端roslaunch marm_description view_arm.launch

step5: 安裝 MoveIt

在終端執(zhí)行以下命令sudo apt-get install ros-melodic-moveit

step6: 啟動(dòng) MoveIt

在終端執(zhí)行以下命令rosrun moveit_setup_assistant moveit_setup_assistant

step7: 配置 MoveIt(1)Start(2)Self-Collisions(3)Planning Groups(核心)

檢查是否與下圖一致

(4)Robot Poses(5)End Effectors(6)Author Information(7)Configuration Filesstep8: 重新編譯工作空間step9: 啟動(dòng)demo文件，測(cè)試 rviz 仿真環(huán)境拖動(dòng)規(guī)劃

直接鼠標(biāo)拖動(dòng)機(jī)械臂末端執(zhí)行器

點(diǎn)擊 plan ，進(jìn)行路徑規(guī)劃

點(diǎn)擊 excute ，機(jī)械臂運(yùn)動(dòng)

設(shè)置動(dòng)畫(huà)是否循環(huán)播放隨機(jī)目標(biāo)點(diǎn)規(guī)劃設(shè)置初始位姿添加場(chǎng)景物體

可通過(guò)拖動(dòng)箭頭變換位置

Part 2: MoveIt 基礎(chǔ)編程

以下代碼運(yùn)行都是在 rviz 打開(kāi)的前提下執(zhí)行

關(guān)節(jié)空間規(guī)劃

在工作空間中打開(kāi)終端source ./devel/setup.bashrosrun marm_planning moveit_fk_demo.py

工作空間規(guī)劃

在工作空間中打開(kāi)終端source ./devel/setup.bashrosrun marm_planning moveit_ik_demo.py

笛卡爾路徑規(guī)劃顯示路徑走直線

在工作空間中打開(kāi)終端source ./devel/setup.bashrosrun marm_planning moveit_cartesian_demo.py _cartesian:=True   (走直線)

走曲線

在工作空間中打開(kāi)終端source ./devel/setup.bashrosrun marm_planning moveit_cartesian_demo.py _cartesian:=False  (走曲線)

*

避障規(guī)劃

在工作空間中打開(kāi)終端source ./devel/setup.bashrosrun marm_planning moveit_obstacles_demo.py

Part 3: Gazebo 機(jī)械臂仿真step1: 依賴文件配置(1)關(guān)節(jié)軌跡控制器trajectory_control.yamlarm_trajectory_controller.launch(2)MoveIt 控制器

在 6R_mechanical_arm/src/marm_moveit_config/config 路徑下新建 controllers.yaml 文件

6R_mechanical_arm/src/marm_moveit_config/config/controllers.yaml

controller_manager_ns: controller_managercontroller_list:  - name: arm/arm_joint_controller    action_ns: follow_joint_trajectory    type: FollowJointTrajectory    default: true    joints:      - joint1      - joint2      - joint3      - joint4      - joint5      - joint6  - name: arm/gripper_controller    action_ns: follow_joint_trajectory    type: FollowJointTrajectory    default: true    joints:      - finger_joint1      - finger_joint2

6R_mechanical_arm/src/marm_moveit_config/launch/arm_moveit_controller_manager.launch.xml

6R_mechanical_arm/src/marm_moveit_config/launch/moveit_planning_execution.launch

 # The planning and execution components of MoveIt! configured to  # publish the current configuration of the robot (simulated or real) # and the current state of the world as seen by the planner     # The visualization component of MoveIt!              [/arm/joint_states]  

(3)啟動(dòng)環(huán)境arm_world.launch(4)聯(lián)結(jié)所有 launch 文件arm_bringup_moveit.launchstep2: 啟動(dòng) gazebo 和 rviz 仿真環(huán)境

在工作空間路徑下打開(kāi)終端，輸入以下命令source ./devel/setup.bashroslaunch marm_gazebo arm_bringup_moveit.launch

調(diào)整 rviz 設(shè)置調(diào)整 gazebo 設(shè)置

存在模型抖動(dòng)現(xiàn)象，暫時(shí)不調(diào)整

step3: 使用 MoveIt

調(diào)整機(jī)器人目標(biāo)位置

點(diǎn)擊 Plan & Execute

問(wèn)題匯總1、Could not find a package configuration file provided by “manipulation_msgs“

解決方法

參考地址：解決Could not find a package configuration file provided by “manipulation_msgs“

下載地址：

GitHub - ros-interactive-manipulation/manipulation_msgs: The package in this repo is DEPRECATED (see https://github.com/ros-interactive-manipulation/manipulation_msgs/issues/9)

GitHub - ros-interactive-manipulation/household_objects_database_msgs: Messages for the household_objects_database. The package in this repo is DEPRECATED and you"re advised to see moveit_msgs instead (see also https://github.com/ros-interactive-manipulation/household_objects_database_msgs/issues/5)

2、點(diǎn)擊 plan&execute 后，rviz有變化，gazebo無(wú)變化

解決方案一:在終端執(zhí)行以下代碼sudo apt install ros-melodic-ros-controllers

解決方案二:修改文件:工作空間/src/marm_moveit_config/launch/trajectory_execution.launch.xml將參數(shù) pass_all_args="true" 刪掉即可

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