MoveIt在rbx2上的学习

一.查看速度信息
Joint Trajectory Action Controller设计用来接受整个关节轨迹作为输入，关节轨迹是一个关于关节位置速度加速度和结果的序列集合，可以通过rqt_graph画出关于/joint_states的消息查看:

$ rqt_plot /joint_states/position[2], /joint_states/position[3], /joint_states/position[4], /joint_states/position[5], /joint_states/position[6], /joint_states/position[8]

 



也可以用下面语句查看速度信息：

$ rqt_plot /joint_states/velocity[2], /joint_states/velocity[3], 
/joint_states/velocity[4], /joint_states/velocity[5], 
/joint_states/velocity[6], /joint_states/velocity[8]

或者直接查看消息：

</pre><pre name="code" class="plain">$ rosmsg show JointTrajectory
sunfc@ubuntu001:~$ rosmsg show JointTrajectory 
[trajectory_msgs/JointTrajectory]: 
std_msgs/Header header 
  uint32 seq 
  time stamp 
  string frame_id 
string[] joint_names 
trajectory_msgs/JointTrajectoryPoint[] points 
  float64[] positions 
  float64[] velocities 
  float64[] accelerations 
  float64[] effort 
  duration time_from_start 

Both the arbotix and dynamixel_motor packages provide a joint trajectory action controller that works with Dynamixel servos.
使用moveit时会产生运动解决器robot's kinematic solvers,，关节控制器joint controllers ，关节限制oint limits，运动规划和传感器motion planners and sensors，这些都在config文件夹包含，主要包括：kinematics.yaml , controllers.yaml , joint_limits.yaml and sensors_rgbd.yaml，除此之外还会产生一系列launch文件和运动控制模型：

◦ the planning scene pipeline including collision checking and an occupancy 
grid using an Octomap 
◦ motion planning using OMPL (Open Motion Planning Library)
◦ the move_group node that provides topics, services and actions used for 
kinematics, planning and execution, pick and place, state validation and 
planning scene queries and updates 
◦ a joint trajectory controller manager for launching the appropriate trajectory 
controllers for the given robot

二.运用moveit配置

要使用moveit，首先安装：

$ sudo apt-get update
$ sudo apt-get install ros-indigo-moveit-full
$ sudo apt-get install ros-indigo-moveit-ikfast

这里我们安装学习的东西：

$ sudo apt-get install ros-indigo-moveit-full-pr2

首先要明白moveit需要的是urdf，所以需要转化xacro：

$ roscd rbx2_description/urdf/pi_robot 
$ rosrun xacro xacro.py pi_robot_with_arm.xacro > pi_robot.urdf

查看转换是否成功：

$ check_urdf pi_robot.urdf | less

显示如下就是成功了：

robot name is: pi_robot 
---------- Successfully Parsed XML --------------- 
root Link: base_footprint has 1 child(ren) 
child(1): base