1. 安装 universal_robot:
https://github.com/ros-industrial/universal_robot
按照安装指导中的build from source方法安装,直接使用apt-get的话会遇到与gazebo8不适配的情况。
2. ROS与机械臂:
http://blog.exbot.net/archives/3337
https://myyerrol.io/zh-cn/2017/04/20/ros_experience_2_xmbot_arm/
3. 使用moveit api(python)设定pose作为目标:详见书籍Programming robots with ROS-Chapter 11
4. AUBO i5相关:
以AUBO i5机械臂为例的教程:https://github.com/mhuasong/AUBO-Robot-on-ROS
代码库:https://github.com/lg609/aubo_robot
从以上代码库中下载代码后,catkin_make编译前,需要安装:
sudo apt-get install ros-kinetic-moveit-visual-tools
sudo apt-get install ros-kinetic-industrial-core
然后修改aubo_i5_gazebo_control.launch
文件中的机器人文件引用行为:
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aubo_gazebo)/urdf/aubo_i5.urdf.xacro'" />
并将/aubo_gazebo/urdf/aubo_i5.xacro改名为aubo_i5.urdf.xacro
然后在运行roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
时出现错误:
/opt/ros/kinetic/lib/moveit_ros_move_group/move_group: error while loading shared libraries: libmoveit_robot_trajectory.so.0.9.15: cannot open shared object file: No such file or directory
[move_group-6] process has died [pid 12240, exit code 127, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/junchuan/.ros/log/d1fd4694-2233-11ea-9bea-00d86127892a/move_group-6.log].
log file: /home/junchuan/.ros/log/d1fd4694-2233-11ea-9bea-00d86127892a/move_group-6*.log
解决方法:Aubo机器人报错_MSUDU的博客-CSDN博客
即将相关so文件改名为0.9.15后缀
5. 一种安装既定动作序列命令机械臂的方法(python):[ROS Q&A] 138 - How to set a sequence of goals in MoveIt for a manipulator? - The Construct