ros高效编程第7.4.3章

7.4.3

rosbook_arm_graspping_world_launch
<arg name="world" default="grasping"/>
<arg name="robot" default="rgbd"/>

	rosbook_arm_gazebo.launch
		|worlds/$(arg world).world
 		|rosbook_arm_gazebo/rosbook_arm_spawn.launch
 			|pids.yaml
 			|joint_trajectory_controllers.yaml
 			|upload_rosbook_arm.launch
 				|rosbook_arm_$(arg robot).urdf.xacro
 					包含各个模型部件的urdf.xacro，然后该urdf.xacro又包含了gazebo.xacro
 				|description)/config/joint_limits.yaml
 			|<!-- Spawn robot in Gazebo -->
		|rosbook_arm_bringup.launch
			|rosbook_arm_controller_configuration)/launch/default_controllers.launch
				|joint_state_controller.yaml
				 注意他这里的yaml是一个包里面的，joint state controller roswiki
				|<node pkg="controller_manager" type="spawner" 	name="default_controllers_spawner"
        		  args="joint_state_controller
                  arm_controller
                  gripper_controller"/>
                  这里三个控制器名字和之前的对应上了
               | robot_state_publisher 发布节点
                  他这里 <param name="publish_frequency" value="50.0"/>
    					<param name="tf_prefix"         value=""/>
               |rosbook_arm_moveit_config)/launch/move_group.launch  
                这个是自动生成的，对应他的底层文件就不看了

moveit_rviz.launch config：=true
 这个也是自动生成的文件，底层文件不看了
	

joint state controller

https://github.com/ros-controls/ros_controllers
文件格式

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

sensors_rgbd.yaml

sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
  point_cloud_topic: /rgbd_camera/depth/points
  max_range: 10
  padding_offset: 0.01
  padding_scale: 1.0
  point_subsample: 1
  filtered_cloud_topic: output_cloud
# this last topic is just to debug, having it adds processing time


# sensors:
#  - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
#    image_topic: /head_mount_xtion/depth/image_raw
#    queue_size: 5
#    near_clipping_plane_distance: 0.3
#    far_clipping_plane_distance: 5.0
#    skip_vertical_pixels: 1
#    skip_horizontal_pixels: 1
#    shadow_threshold: 0.2
#    padding_scale: 4.0
#    padding_offset: 0.03
#    filtered_cloud_topic: output_cloud

发现其包含在
rosbook_arm_moveit_sensor_manager.launch.xml
他又包含在
sensor manager.launch.xml

  Params for the octomap monitor


 <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
 
  <arg name="moveit_sensor_manager" default="rosbook_arm" />
  <include file="$(find rosbook_arm_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

move group.launch

<!-- Sensors Functionality -->
  <include ns="move_group" file="$(find rosbook_arm_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="rosbook_arm" />
  </include>

总的来说就是

  move group.launch
		| sensor manager.launch.xml
		 	|rosbook_arm_moveit_sensor_manager.launch.xml
		 		|load 该yaml文件

结合其他

在ur3中的什么sensor manager.launch.xml是空的
我配置的ur_robotiq sensor manager.launch.xml也是空的
我估计这里就是要结合自己的情况配置
自动生成的3d.yaml被包含了。

planning and execution

<?xml version="1.0"?>
<launch>
  <arg name="sim" default="false" />
  <arg name="debug" default="false" />
  <!-- By default, we do not start a database (it can be large) -->
  <arg name="demo" default="false" />
  
  <!-- Launch moveit -->
  <include file="$(find robotiq_85_moveit_config)/launch/move_group.launch">
    <arg name="debug" default="$(arg debug)" />
  </include>
  
  
  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find robotiq_85_moveit_config)/launch/default_warehouse_db.launch" if="$(arg demo)"/>
  
</launch>

<launch>
  <arg name="sim" default="false" />
  <arg name="limited" default="false"/>
  <arg name="debug" default="false" />
    
  <!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
  
  <!-- Launch moveit -->
  <include file="$(find ur3_moveit_config)/launch/move_group.launch">
    <arg name="limited" default="$(arg limited)"/>
    <arg name="debug" default="$(arg debug)" />
  </include>
</launch>

<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
 <include file="$(find rosbook_arm_moveit_config)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 # The visualization component of MoveIt!
 <include file="$(find rosbook_arm_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true" />
 </include>
</launch>

moveit rviz

这里的我看了几个包，都是一样的，没有改动
https://blog.csdn.net/wilylcyu/article/details/60136585