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