仅启动moveit
roslaunch ur5_moveit_config demo.launch
gazebo + moveit 联合仿真
roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
查看rgb相机内容
rqt_image_view
查看话题列表
rostopic list
查看话题内容
rostopic echo /simple_camera/image_raw1
快捷键:
ctrl+H 显示
编辑环境变量
gedit ~/.bashrc
使环境生效
source ~/.bashrc
urdf 文件路径、
/home/yixin/catkin_ur/src/universal_robot-kinetic-devel/ur_description/urdf
vel_based_pos_traj_controller
<!--observe object_blue-->
<joint name="white" type="fixed">
<origin xyz="0.8 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="white_link"/>
</joint>
<link name="white_link">
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<box size="0.6 0.6 0.05" />
</geometry>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1"/>
</material>
</visual>
</link>
查看图像大小:
rostopic echo /camera/rgb/image_raw/width -n1
rostopic echo /camera/rgb/image_raw/height -n1
Gazebo中加入一个双目相机及相机参数设置 - it610.com
【gazebo仿真】如何在gazebo中给无人机添加双目相机 - 知乎
zip FileName.zip DirName
解压:tar zxvf FileName.tar.gz
压缩:tar zcvf FileName.tar.gz DirName
就这玩意,安装了ros就不要升级gcc g++等工具,升级了ros的cpp库就编译不了,使用
sudo aptitude reinstall gcc
sudo aptitude reinstall g++
aptitude没相关命令那就apt-get apitude
moveit和 gazebox相关的melodic版本要使用命令安装,ros并没有自带