UR机械臂学习（9）：加入robotiq力传感器

01 安装过程

• 1/ 下载robotiq功能包

  cd ur_ws/src
  git clone https://github.com/ros-industrial/robotiq.git
  

• 2/ 修改ur3的描述文件

  • 首先，参考robotiq功能包中有关力传感器的部分

    cd  ~/ur_ws/src/robotiq/robotiq_ft_sensor/urdf
    gedit robotiq_ft300.urdf.xacro
    

    在robotiq_ft300.urdf.xacro中有一段信息描述了怎样将sensor添加到机械臂的末端：

    <!-- Macro function to instanciate URDF model of the FT300 force-torque sensor with mounting plate
        Example use: 
        ```
            // Import this macro function
            <xacro:include filename="$(find robotiq_ft_sensor)/urdf/robotiq_ft300.urdf.xacro" />
            
            // Instanciate sensor instance and connect it to robot flange
            <xacro:robotiq_ft300 parent="robot_flange_link" prefix="">
                <origin xyz="0 0 0" rpy="0 0 0"/> 
            </xacro:robotiq_ft300>
        ```
    -->
    

  • 接下来，我们将按照上面所描述的信息，添加到ur3的描述文件中

    ❤ 打开ur3的描述文件ur3.urdf.xacro

    cd ~/ur_ws/src/fmauch_universal_robot/ur_description/urdf
    gedit  ur3.xacro  
    

    在ur3.xacro中，添加如下语句

    <xacro:include filename="$(find robotiq_ft_sensor)/urdf/robotiq_ft300.urdf.xacro" />
    

    效果如图：

    

    ---

    ❤打开ur3的描述文件ur3_macro.xacro

    cd ~/ur_ws/src/fmauch_universal_robot/ur_description/urdf/inc
    gedit  ur3_macro.xacro 
    

    在ur3_macro.xacro的末尾处，添加如下语句

    <xacro:robotiq_ft300 parent="${prefix}tool0" prefix="">
    	<origin xyz="0 0 0 " rpy="0 0 0"/>
    </xacro:robotiq_ft300>
    

    效果如图：
    

    ---

    ❤一些说明：

    如下图所示，在~/ur_ws/src/fmauch_universal_robot/ur_description/urdf/inc的ur_macro.xacro文件中，ur机械臂暴露给最外面的link是${prefix}tool0

    

    所以，我们只需要将ft sensor的宏定义的parent赋值为tool0即可

    

02 启动

# 启动gazebo
# 注意是ur3_bringup.launch，而不是ur3.launch
roslaunch ur_gazebo ur3_bringup.launch

# 启动move it规划
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true

# 启动rviz
# 注意后面要给出rviz_config的地址
roslaunch ur3_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur3_moveit_config)/launch/moveit.rviz

03 报错与解决

3.1 问题1 soem

Could not find a package configuration file provided by "soem" with any of the following names:

• 参考
  https://blog.csdn.net/weixin_42661884/article/details/81118724

• 解决

  sudo apt-get install ros-melodic-soem
  

3.2 问题2

Could not find a package configuration file provided by "socketcan_interface" with any of the following names:

• 解决

  sudo apt-get install ros-melodic-socketcan-interface
  

04 参考

下载robotiq的ros package
http://wiki.ros.org/robotiq

issues
https://github.com/ros-industrial/robotiq/issues

ScazLab的安装方法
https://scazlab.github.io/ur5e_setup_guide.html