cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
运行代码后之后,不能显示Robotmodel,这是为什么呢
但moveit gazebo却能显示
在universal_robot/ur_desription/urdf中并没有urdf文件,只有.xacao,会不会是这个原因呢?还是我缺少什么安装包。
解决办法如下,原因是没有先启动gazebo
roslaunch ur_gazebo ur5_bringup.launch
MoveIt! with a simulated robot Again, you can use MoveIt! to control the simulated robot.
For setting up the MoveIt! nodes to allow motion planning run:
roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true
For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
roslaunch ur5_moveit_config moveit_rviz.launch
但是在motion planning 时候仍会出现问题,逆解过程会撞到地面,显然不能应用在实际中