moveit下，python脚本控制aubo_i5真实机械臂

李了个大普

已于 2023-08-30 15:25:07 修改

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文章标签： python 开发语言 ubuntu

于 2023-06-08 17:29:28 首次发布

本文链接：https://blog.csdn.net/m0_57152054/article/details/131096834

版权

1.首先确保控制柜与上位机在同一网段且相互ping通,运行RVIZ

roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.10.10

运行成功后能看到Rviz和真实机械臂保持相同的姿态

2.创建rospy工作空间

cd ~/catkin_ws/src   //进入src文件夹
catkin_create_pkg moveit_py roscpp rospy std_msgs   //创建test_pkg功能包并添加3个依赖

返回进行编译

$ cd ..  //返回my_workspace文件夹
$ catkin_make  //执行编译

进入文件夹

cd src
cd moveit_py/

创建scripts文件夹存放python代码

mkdir scripts
cd scripts/
gedit moveit_ik_demo.py

将以下ik代码复制粘贴到文本编译器里

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy, sys
import moveit_commander
from geometry_msgs.msg import PoseStamped, Pose


class MoveItIkDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)
        
        # 初始化ROS节点
        rospy.init_node('moveit_ik_demo')
                
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = moveit_commander.MoveGroupCommander('manipulator_i5')
                
        # 获取终端link的名称
        end_effector_link = arm.get_end_effector_link()
                        
        # 设置目标位置所使用的参考坐标系
        reference_frame = 'base_link'
        arm.set_pose_reference_frame(reference_frame)
                
        # 当运动规划失败后，允许重新规划
        arm.allow_replanning(True)
        
        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
        arm.set_goal_position_tolerance(0.001)
        arm.set_goal_orientation_tolerance(0.01)
       
	joint_goal = arm.get_current_joint_values()
	print('joint_goal:',joint_goal)
        # 设置允许的最大速度和加速度
        arm.set_max_acceleration_scaling_factor(0.5)
        arm.set_max_velocity_scaling_factor(0.5)

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
               
        # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
        # 姿态使用四元数描述，基于base_link坐标系
        target_pose = PoseStamped()
        target_pose.header.frame_id = reference_frame
        target_pose.header.stamp = rospy.Time.now()     
        target_pose.pose.position.x = 0.2593
        target_pose.pose.position.y = 0.0636
        target_pose.pose.position.z = 0.1787
        target_pose.pose.orientation.x = 0.70692
        target_pose.pose.orientation.y = 0.0
        target_pose.pose.orientation.z = 0.0
        target_pose.pose.orientation.w = 0.70729
        
        # 设置机器臂当前的状态作为运动初始状态
        arm.set_start_state_to_current_state()
        
        # 设置机械臂终端运动的目标位姿
        arm.set_pose_target(target_pose, end_effector_link)
        
        # 规划运动路径
        traj = arm.plan()
        
        # 按照规划的运动路径控制机械臂运动
        arm.execute(traj)
        rospy.sleep(1)

        # 控制机械臂回到初始化位置
        arm.set_named_target('home')
        arm.go()

        # 关闭并退出moveit
        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    MoveItIkDemo()

给代码权限

chmod +x moveit_ik_demo.py

在终端运行ik程序

rosrun moveit_py moveit_ik_demo.py

即可看到机械臂到指定位置

cd scripts/
gedit moveit_fk_demo.py

将以下代码复制粘贴到文本编译器里

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy, sys
import moveit_commander

class MoveItFkDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)

        # 初始化ROS节点
        rospy.init_node('moveit_fk_demo', anonymous=True)
 
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = moveit_commander.MoveGroupCommander('manipulator_i5')
        
        # 设置机械臂运动的允许误差值
        arm.set_goal_joint_tolerance(0.001)

        # 设置允许的最大速度和加速度
        arm.set_max_acceleration_scaling_factor(0.1)
        arm.set_max_velocity_scaling_factor(0.1)
        
        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()                            #规划和执行回到"home"点
        rospy.sleep(1)
         
    
        # 设置机械臂的目标位置，使用六轴的位置数据进行描述（单位：弧度）
        # joint_positions = [0.391410, -0.676384, -0.376217, 0.0, 1.052834, 0.454125]
        #joint_positions = [1, -0.676384, -0.376217, 0.0, 1.052834, 0.454125]
	joint_positions = [0.6033074062305102, -0.14042150759319771, 0.6493257033724088],[0.505245407973611, 0.6457702264188125, 0.4096313978444148, 0.3998874970446135]
        arm.set_joint_value_target(joint_positions)
                 
        # 控制机械臂完成运动
        arm.go()
        rospy.sleep(10)

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
        
        # 关闭并退出moveit
        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    try:
        MoveItFkDemo()
    except rospy.ROSInterruptException:
        pass

以下均为代码，步骤同上

cd scripts/
gedit trajectory_demo.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import actionlib

from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint

class TrajectoryDemo():
    def __init__(self):
        rospy.init_node('trajectory_demo')
        
        # 是否需要回到初始化的位置
        reset = rospy.get_param('~reset', False)
        
        # 机械臂中joint的命名
        # arm_joints = ['shoulder_joint',
        #               'upperArm_joint',
        #               'foreArm_joint', 
        #               'wrist1_joint',
        #               'wrist2_joint',
        #               'wrist3_joint']
        
        arm_joints = ['foreArm_joint',
                      'upperArm_joint',
                      'shoulder_joint', 
                      'wrist1_joint',
                      'wrist2_joint',
                      'wrist3_joint']
        
        if reset:
            # 如果需要回到初始化位置，需要将目标位置设置为初始化位置的六轴角度
            arm_goal  = [0, 0, 0, 0, 0, 0]

        else:
            # 如果不需要回初始化位置，则设置目标位置的六轴角度
            # arm_goal  = [-0.3, -1.0, 0.5, 0.8, 1.0, -0.7]
            arm_goal  = [0, 0, 0, 0, -0.5, 0]
    
        # 连接机械臂轨迹规划的trajectory action server
        rospy.loginfo('Waiting for arm trajectory controller...')       
        arm_client = actionlib.SimpleActionClient('/aubo_i5_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
        arm_client.wait_for_server()        
        rospy.loginfo('...connected.')  
    
        # 使用设置的目标位置创建一条轨迹数据
        arm_trajectory = JointTrajectory()
        arm_trajectory.joint_names = arm_joints
        arm_trajectory.points.append(JointTrajectoryPoint())
        arm_trajectory.points[0].positions = arm_goal
        arm_trajectory.points[0].velocities = [0.0 for i in arm_joints]
        arm_trajectory.points[0].accelerations = [0.0 for i in arm_joints]
        arm_trajectory.points[0].time_from_start = rospy.Duration(3.0)
    
        rospy.loginfo('Moving the arm to goal position...')
        
        # 创建一个轨迹目标的空对象
        arm_goal = FollowJointTrajectoryGoal()
        
        # 将之前创建好的轨迹数据加入轨迹目标对象中
        arm_goal.trajectory = arm_trajectory
        
        # 设置执行时间的允许误差值
        arm_goal.goal_time_tolerance = rospy.Duration(0.0)
    
        # 将轨迹目标发送到action server进行处理，实现机械臂的运动控制
        arm_client.send_goal(arm_goal)

        # 等待机械臂运动结束
        arm_client.wait_for_result(rospy.Duration(5.0))
        
        rospy.loginfo('...done')
        
if __name__ == '__main__':
    try:
        TrajectoryDemo()
    except rospy.ROSInterruptException:
        pass

cd scripts/
gedit moveit_cartesian_demo.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy, sys
import moveit_commander
from moveit_commander import MoveGroupCommander
from geometry_msgs.msg import Pose
from copy import deepcopy

class MoveItCartesianDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)

        # 初始化ROS节点
        rospy.init_node('moveit_cartesian_demo', anonymous=True)

        # 是否需要使用笛卡尔空间的运动规划
        cartesian = rospy.get_param('~cartesian', True)
                      
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = MoveGroupCommander('manipulator_i5')
        
        # 当运动规划失败后，允许重新规划
        arm.allow_replanning(True)
        
        # 设置目标位置所使用的参考坐标系
        arm.set_pose_reference_frame('base_link')
                
        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
        arm.set_goal_position_tolerance(0.001)
        arm.set_goal_orientation_tolerance(0.001)
        
        # 设置允许的最大速度和加速度
        arm.set_max_acceleration_scaling_factor(0.5)
        arm.set_max_velocity_scaling_factor(0.5)
        
        # 获取终端link的名称
        end_effector_link = arm.get_end_effector_link()

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
                                               
        # 获取当前位姿数据最为机械臂运动的起始位姿
        start_pose = arm.get_current_pose(end_effector_link).pose
                
        # 初始化路点列表
        waypoints = []

        # 将初始位姿加入路点列表
        if cartesian:
            waypoints.append(start_pose)
            
        # 设置路点数据，并加入路点列表
        wpose = deepcopy(start_pose)
        wpose.position.z -= 0.2

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        wpose.position.x += 0.15

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)
        
        wpose.position.y += 0.1

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        wpose.position.x -= 0.15
        wpose.position.y -= 0.1

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        if cartesian:
		fraction = 0.0   #路径规划覆盖率
		maxtries = 100   #最大尝试规划次数
		attempts = 0     #已经尝试规划次数
		
		# 设置机器臂当前的状态作为运动初始状态
		arm.set_start_state_to_current_state()
	 
		# 尝试规划一条笛卡尔空间下的路径，依次通过所有路点
		while fraction < 1.0 and attempts < maxtries:
		    (plan, fraction) = arm.compute_cartesian_path (
		                            waypoints,   # waypoint poses，路点列表
		                            0.01,        # eef_step，终端步进值
		                            0.0,         # jump_threshold，跳跃阈值
		                            True)        # avoid_collisions，避障规划
		    
		    # 尝试次数累加
		    attempts += 1
		    
		    # 打印运动规划进程
		    if attempts % 10 == 0:
		        rospy.loginfo("Still trying after " + str(attempts) + " attempts...")
		             
		# 如果路径规划成功（覆盖率100%）,则开始控制机械臂运动
		if fraction == 1.0:
		    rospy.loginfo("Path computed successfully. Moving the arm.")
		    arm.execute(plan)
		    rospy.loginfo("Path execution complete.")
		# 如果路径规划失败，则打印失败信息
		else:
		    rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.")  

		rospy.sleep(1)

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
        
        # 关闭并退出moveit
        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    try:
        MoveItCartesianDemo()
    except rospy.ROSInterruptException:
        pass

cd scripts/
gedit moveit_attached_object_demo.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
import rospy, sys
import thread, copy
import moveit_commander
from moveit_commander import RobotCommander, MoveGroupCommander, PlanningSceneInterface
from geometry_msgs.msg import PoseStamped, Pose
from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, PlanningScene
from math import radians
from copy import deepcopy

class MoveAttachedObjectDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)
        
        # 初始化ROS节点
        rospy.init_node('moveit_attached_object_demo')
        
        # 初始化场景对象
        scene = PlanningSceneInterface()
        rospy.sleep(1)
                                
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = MoveGroupCommander('manipulator_i5')
        
        # 获取终端link的名称
        end_effector_link = arm.get_end_effector_link()
        
        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
        arm.set_goal_position_tolerance(0.01)
        arm.set_goal_orientation_tolerance(0.05)
       
        # 当运动规划失败后，允许重新规划
        arm.allow_replanning(True)
        arm.set_planning_time(10)

        # 控制机械臂回到初始化位置
        #arm.set_named_target('home')


        # 设置允许的最大速度和加速度
        arm.set_max_acceleration_scaling_factor(0.1)
        arm.set_max_velocity_scaling_factor(0.1)

        joint_positions = [0.052677277475595474, 0.07292764633893967, -0.9973993301391602, -0.8692712783813477, 1.6022130250930786, -0.1959533989429474]
        arm.set_joint_value_target(joint_positions)
	

        arm.go()
        
        # 移除场景中之前运行残留的物体
        scene.remove_attached_object(end_effector_link, 'tool')
        scene.remove_world_object('table') 
        scene.remove_world_object('target')

        # 设置桌面的高度
        table_ground = 0.6
        
        # 设置table和tool的三维尺寸
        table_size = [0.1, 0.7, 0.01]
        tool_size = [0.2, 0.02, 0.02]
        
        # 设置tool的位姿
        p = PoseStamped()
        p.header.frame_id = end_effector_link
        
        p.pose.position.x = tool_size[0] / 2.0 - 0.025
        p.pose.position.y = -0.015
        p.pose.position.z = 0.0
        p.pose.orientation.x = 0
        p.pose.orientation.y = 0
        p.pose.orientation.z = 0
        p.pose.orientation.w = 1
        
        # 将tool附着到机器人的终端
        scene.attach_box(end_effector_link, 'tool', p, tool_size)

        # 将table加入场景当中
        table_pose = PoseStamped()
        table_pose.header.frame_id = 'base_link'
        table_pose.pose.position.x = 0.25
        table_pose.pose.position.y = 0.0
        table_pose.pose.position.z = table_ground + table_size[2] / 2.0
        table_pose.pose.orientation.w = 1.0
        scene.add_box('table', table_pose, table_size)
        
        rospy.sleep(2)  

        # 更新当前的位姿
        arm.set_start_state_to_current_state()

        # 设置机械臂的目标位置，使用六轴的位置数据进行描述（单位：弧度）
        joint_positions = [0.827228546495185, 0.29496592875743577, 1.1185644936946095, -0.7987583317769674, -0.18950024740190782, 0.11752152218233858]
        arm.set_joint_value_target(joint_positions)
                 
        # 控制机械臂完成运动
        arm.go()
        rospy.sleep(1)
        
        # 控制机械臂回到初始化位置
        #arm.set_named_target('home')
	arm.set_joint_value_target(joint_positions)
        arm.go()

        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    MoveAttachedObjectDemo()

李了个大普

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moveit下，python脚本控制aubo_i5真实机械臂

1.首先确保控制柜与上位机在同一网段且相互ping通,运行RVIZ。运行成功后能看到Rviz和真实机械臂保持相同的姿态。创建scripts文件夹存放python代码。将以下ik代码复制粘贴到文本编译器里。将以下代码复制粘贴到文本编译器里。2.创建rospy工作空间。即可看到机械臂到指定位置。以下均为代码，步骤同上。
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