kinova_j2s6s300机械臂使用笔记

kinova包下载地址

1.安装

mkdir kinova_ws/src
cd ~/kinova_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
cd ~/kinova_ws
catkin_make

2.使用 MoveIt 功能包

安装完成后想使用一下官方提供的moveit包，运行（注：我使用的机械臂是j2s6s300）

roslaunch j2s6s300_moveit_config demo.launch

终端报错[ERROR] [1621344731.484302826]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin probot_anno_manipulator_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin ur_kinematics/UR10KinematicsPlugin ur_kinematics/UR3KinematicsPlugin ur_kinematics/UR5KinematicsPlugin [ERROR] [1621344731.484324284]: Kinematics solver could not be instantiated for joint group arm.
解决办法：安装和你的ROS版本匹配的trac-ik-kinematics-plugin就行了

sudo apt-get install ros-melodic-trac-ik-kinematics-plugin

【参考】
关于kinova机械臂报错：The kinematics plugin (arm) failed to load. and Kinematics solver could not be instant

3.驱动真实机械臂配置

• Step1：sudo cp kinova_driver/udev/10-kinova-arm.rules /etc/udev/rules.d/
• Step2：执行64 bits文件夹里边的bash脚本sudo ./installSDK64.sh
• Step3：回到工作空间下，编译catkin_make
• Step4：启动launch文件，roslaunch kinova_bringup kinova_robot.launch

如果想要使用MoveIt_Config包里边的拖曳功能控制机械臂的话，roslaunch j2s6s300_moveit_config j2s6s300_demo.launch