1.连接机械臂
roslaunch ur_robot_driver ur5_bringup.launch limited:=true robot_ip:=10.9.55.135
2.运行示教器上的test.urp文件 并注意IP地址是否和机械臂一致
3.运行moveit
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
4.打开可视化界面rviz
roslaunch ur5_moveit_config moveit_rviz.launch rviz_config:=$(rospack find ur5_moveit_config)/launch/moveit.rviz
5.连接爪子
roslaunch dh_hand_driver dh_hand_controller.launch
6.设置爪子
rosrun dh_hand_driver hand_controller_client [motorID][position][Force]
(2021 12 07更新)根据dh官方ros包提供的新的驱动,将开启夹爪步骤更新为
(
sudo chmod 666 /dev/ttyACM0
roslaunch dh_gripper_driver dh_gripper.launch
)
7.打开相机
k4aviewer
8.相机在rviz中的使用
roslaunch azure_kinect_ros_driver driver.launch
rviz(新开一个终端)
显示RGB图像:点击Add->Image->Image Topic->/rgb/image_raw
显示深度图像图像:点击Add->Image->Image Topic->/depth_to_rgb/image_raw
9.手眼标定
roslaunch easy_handeye ur5_k4a_calibration_setup.launch
roslaunch easy_handeye ur5_k4a_calibration.launch
rosrun image_view image_view image:=/aruco_tracker/result
(打开标定界面)
#查看保存的标定文件
gedit ~/.ros/easy_handeye/ur5_k4a_handeyecalibration_eye_on_base.yaml
发布tf
roslaunch easy_handeye publish.launch eye_on_hand:=false
#查看TF
rosrun tf tf_echo /base /rgb_camera_link
10.在ur5与上位机进行通信后,获取ur5末端位姿的方法
rosrun moveit_commander moveit_commander_cmdline.py
use manipulator
current
11.vscode中代码整体移动
选中代码后整体后移 Tab键
选中代码后整体左移 Shift+Tab
12.ROS中的整数、浮点数以及字符串类型的数据读取
%d代表整数 ROS_INFO("grip_state : %d", _g_state.grip_state);
%f代表浮点数 ROS_INFO("position : %f", _g_state.position);
%s代表字符串 ROS_INFO("target_force: %f", _g_state.target_force);
13.ubuntu中修改文件夹读写权限
sudo chmod -R 777 opencv2/
14.gazebo中出现错误,清除进程指令
killall gzserver
killall gzclient
15.ros中查看两个link之间的转换关系
rosrun tf tf_echo /base_link /camera_base_link
即表示 /camera_base_link 与 base_link之间的转换关系