ur_robotiq夹爪配置2

参考网址

以下网址给出gazebo中抓取固定的相关配置。

https://github.com/JenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin
https://github.com/JenniferBuehler/gazebo-pkgs/tree/master/gazebo_grasp_plugin
https://github.com/JenniferBuehler/jaco-arm-pkgs/blob/master/jaco_arm/jaco_gazebo/urdf/gzplugin_grasp_fix.urdf.xacro
https://github.com/Luchuanzhao/UR5-robotiq85_gripper-gazebo

roswiki地址

http://wiki.ros.org/rqt_joint_trajectory_controller

Graphical frontend for interacting with joint_trajectory_controller instances.

我估计他这里就相当于充当了action通信机制的一端。

模型问题

http://wiki.ros.org/xacro
https://answers.ros.org/question/358472/xacro-insert_block-parameter/

他这里夹爪部分模型有问题。
部分标签以及块参数被消除了，需要重新给出。不然会报错。

散架

散架问题是因为gazebo中被动关节插件需要经过编译后才能生效。

catkin_mkae
roslaunch gazebo.launch 就能成功了

ur机械臂问题

ur3的 moveit config中的 move group的luanch文件和别的不太一样

<!--<include file="$(find moveit_config)/launch/planning_context.launch" /> -->
  <include file="$(find moveit_config)/launch/planning_context.launch">
    <arg name="limited" value="$(arg limited)" />
  </include>

然后在context中

  <group if="$(arg load_robot_description)">
    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_robotiq_description)/urdf/robotiq_gazebo.xacro'" />
    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_robotiq_description)/urdf/robotiq_gazebo_limited.xacro'" />
  </group>

但是他这里<arg name="load_robot_description" default="false"/> ur官方的文件中也是
似乎也没有什么作用。

注意

需要修改

 <arg name="fake_execution" value="true"/>

否则gazebo中的机械臂不会运动。

此外，针对命名空间问题：
控制器的命名空间要对应，会默认将 机器人名+控制器名 配对 到 控制器名+follow joint trajectory

arm_controller:
  type: position_controllers/JointTrajectoryController

- name: ""
  action_ns: follow_joint_trajectory
  
 <!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>

问题报错

报错1

[ERROR] [1651221605.918761759, 2852.104000000]: Unable to identify any set of controllers that can actuate the specified joints: [ gripper_finger1_joint ]
[ERROR] [1651221605.918787603, 2852.104000000]: Known controllers and their joints:

[ERROR] [1651221827.007905879, 2760.509000000]: The list of joints for controller gripper_controller is not specified as an array

moveit助手导出来的配置文件ros_controllers.yaml中robotiq的配置只有一个关节,缺少一个 -

joints:
      - gripper_finger1_joint

最后一句话的区别，默认导出没有横向，导致不识别问一个关机组，后面控制执行也会出问题

报错2

 Transform error: Lookup would require extrapolation into the future.  Requested time 2816.648000000 but the latest data is at time 2816.638000000, when looking up transform from frame [robotiq_85_left_finger_link] to frame [_kinect2_rgb_optical_frame]
 Transform error: Lookup would require extrapolation into the future.  Requested time 2949.649000000 but the latest data is at time 2949.638000000, when looking up transform from frame [robotiq_85_left_finger_link] to frame [_kinect2_rgb_optical_frame]
[ERROR] [1650886342.926551327, 2949.752000000]: Transform cache was not updated. Self-filtering may fail.

尝试在rviz中最下面的时间栏reset按钮。