不用moveit控制ur5e机械臂

参考：https://blog.csdn.net/gyxx1998/article/details/119351029?spm=1001.2014.3001.5506

代码总结

#bash 1
roslaunch smartcar_description scout_with_laser_gazebo.launch 
#bash 2
rosrun smartcar_description sendposition.py    

sendposition.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

# 参考  https://blog.csdn.net/fengyu19930920/article/details/81144042

from trajectory_msgs.msg import *
from control_msgs.msg import *
import rospy
import actionlib
from sensor_msgs.msg import JointState
 
JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
               'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
 
def move():
    #goal就是我们向发送的关节运动数据，实例化为FollowJointTrajectoryGoal()类
    goal = FollowJointTrajectoryGoal()

    #goal当中的trajectory就是我们要操作的，其余的Header之类的不用管
    goal.trajectory = JointTrajectory()
    #goal.trajectory底下一共还有两个成员，分别是joint_names和points，先给joint_names赋值
    goal.trajectory.joint_names = JOINT_NAMES

    #从joint_state话题上获取当前的关节角度值，因为后续要移动关节时第一个值要为当前的角度值
    print("Wait for joint_states message")
    joint_states = rospy.wait_for_message("joint_states",JointState)
    print("Get for joint_states message")
    joints_pos = joint_states.position

    #给trajectory中的第二个成员points赋值
    #points中有四个变量，positions,velocities,accelerations,effort，我们给前三个中的全部或者其中一两个赋值就行了
    goal.trajectory.points=[0]*4
    goal.trajectory.points[0]=JointTrajectoryPoint(positions=joints_pos, velocities=[0.5,0,-0.5,0,0,0],time_from_start=rospy.Duration(0.0))
    goal.trajectory.points[1]=JointTrajectoryPoint(positions=[0.5,0,-0.5,0,0,0], velocities=[0]*6,time_from_start=rospy.Duration(1.0))
    goal.trajectory.points[2]=JointTrajectoryPoint(positions=[1,0,-1,0,0,0], velocities=[0]*6,time_from_start=rospy.Duration(2.0))
    goal.trajectory.points[3]=JointTrajectoryPoint(positions=[1.57,0,-1.57,0,0,0], velocities=[0]*6,time_from_start=rospy.Duration(3.0))
    
    #发布goal，注意这里的client还没有实例化，ros节点也没有初始化，我们在后面的程序中进行如上操作
    client.send_goal(goal)
    client.wait_for_result()
 
def pub_test():
    global client

    #初始化ros节点
    rospy.init_node("pub_action_test")

    #实例化一个action的类，命名为client，与上述client对应，话题为arm_controller/follow_joint_trajectory，消息类型为FollowJointTrajectoryAction
    client = actionlib.SimpleActionClient('/arm_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
    print("Waiting for server...")
    #等待server
    client.wait_for_server()
    print("Connect to server")

    #执行move函数，发布action
    move()
 
if __name__ == "__main__":
    pub_test()

这里跟原贴不同的是，client那里是“/arm_controller/follow_joint_trajectory”，直接使用原贴的代码会因为服务名不同导致只提示：“waiting for server …”。