要通过ROS中的Action话题来控制机械臂,你需要按照以下步骤进行:
1. **定义Action文件**
2. **编写Action Server(控制机械臂)**
3. **编写Action Client(发送控制命令)**
4. **配置和运行**
### 1. 定义Action文件
首先,你需要定义一个`.action`文件来描述客户端和服务器之间的消息格式。例如,定义一个文件`MoveArm.action`:
```plaintext
# 定义目标
geometry_msgs/PoseStamped target_pose
---
# 定义反馈
float32 progress
---
# 定义结果
bool success
```
### 2. 生成消息文件
在`CMakeLists.txt`中,添加以下内容:
```plaintext
find_package(catkin REQUIRED COMPONENTS actionlib_msgs actionlib message_generation geometry_msgs)
add_action_files(
FILES
MoveArm.action
)
generate_messages(
DEPENDENCIES
actionlib_msgs geometry_msgs
)
```
在`package.xml`中,添加依赖:
```xml
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib_msgs</exec_depend>
<build_depend>actionlib</build_depend>
<exec_depend>actionlib</exec_depend>
<build_depend>geometry_msgs</build_depend>
<exec_depend>geometry_msgs</exec_depend>
```
### 3. 编写Action Server(控制机械臂)
你需要一个Action Server来控制机械臂的动作。假设你使用的是MoveIt!,可以编写如下服务器代码:
```python
import rospy
import actionlib
from moveit_commander import MoveGroupCommander
from your_package_name.msg import MoveArmAction, MoveArmFeedback, MoveArmResult
class MoveArmActionServer:
def __init__(self):
self.server = actionlib.SimpleActionServer('move_arm', MoveArmAction, self.execute, False)
self.server.start()
self.arm = MoveGroupCommander("arm")
def execute(self, goal):
feedback = MoveArmFeedback()
result = MoveArmResult()
# 设置目标位置
self.arm.set_pose_target(goal.target_pose)
# 开始规划并移动
plan = self.arm.go(wait=True)
# 假设我们通过反馈更新进度
feedback.progress = 50.0
self.server.publish_feedback(feedback)
if plan:
result.success = True
else:
result.success = False
self.server.set_succeeded(result)
if __name__ == '__main__':
rospy.init_node('move_arm_action_server')
server = MoveArmActionServer()
rospy.spin()
```
### 4. 编写Action Client(发送控制命令)
客户端需要发送控制命令给Action Server:
```python
import rospy
import actionlib
from geometry_msgs.msg import PoseStamped
from your_package_name.msg import MoveArmAction, MoveArmGoal
def feedback_cb(feedback):
rospy.loginfo('Progress: %f' % feedback.progress)
def move_arm_client():
client = actionlib.SimpleActionClient('move_arm', MoveArmAction)
client.wait_for_server()
goal = MoveArmGoal()
goal.target_pose.header.frame_id = "base_link"
goal.target_pose.pose.position.x = 0.5
goal.target_pose.pose.position.y = 0.0
goal.target_pose.pose.position.z = 0.5
goal.target_pose.pose.orientation.w = 1.0
client.send_goal(goal, feedback_cb=feedback_cb)
client.wait_for_result()
result = client.get_result()
rospy.loginfo('Success: %s' % result.success)
if __name__ == '__main__':
rospy.init_node('move_arm_action_client')
move_arm_client()
```
### 5. 配置和运行
1. 启动ROS master:
```sh
roscore
```
2. 启动Action Server:
```sh
rosrun your_package_name move_arm_action_server.py
```
3. 启动Action Client:
```sh
rosrun your_package_name move_arm_action_client.py
```
### 6. 调试和验证
确保所有节点正常运行,Action Client能够发送目标给Action Server,并且服务器能够控制机械臂移动到指定位置。如果遇到问题,可以通过`rostopic`查看相关的主题和消息进行调试。
这样你就能够通过Action话题控制机械臂了。