在MoveIt中,可以通过调用computeCartesianPath()函数来使用RRT算法进行笛卡尔空间轨迹规划,可以通过调用computeJointSpacePath()函数来使用RRT算法进行关节空间轨迹规划。这两个函数都属于moveit::planning_interface::MoveGroupInterface类,可以通过创建该类的对象来调用这些函数。下面是一个使用RRT算法进行笛卡尔空间轨迹规划和关节空间轨迹规划的示例代码:
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
# initialize the ROS node
rospy.init_node('rrt_traj_planner')
# initialize the MoveIt commander
moveit_commander.roscpp_initialize(sys.argv)
# define the robot commander
robot = moveit_commander.RobotCommander()
# define the planning scene interface
scene = moveit_commander.PlanningSceneInterface()
# define the move group commander for the robot arm
group = moveit_commander.MoveGroupCommander("arm")
# set the planner to RRTConnect
group.set_planner_id("RRTConnectkConfigDefault")
# define the start pose
start_pose = geometry_msgs.msg.Pose()
start_pose.position.x = 0.0
start_pose.position.y = 0.0
start_pose.position.z = 0.0
start_pose.orientation.x = 0.0
start_pose.orientation.y = 0.0
start_pose.orientation.z = 0.0
start_pose.orientation.w = 1.0
# define the goal pose
goal_pose = geometry_msgs.msg.Pose()
goal_pose.position.x = 0.5
goal_pose.position.y = 0.0
goal_pose.position.z = 0.5
goal_pose.orientation.x = 0.0
goal_pose.orientation.y = 0.707
goal_pose.orientation.z = 0.0
goal_pose.orientation.w = 0.707
# set the start state of the robot arm
group.set_start_state_to_current_state()
# plan the Cartesian path using RRTConnect
waypoints = [start_pose, goal_pose]
fraction = 0.0
while fraction < 1.0:
(plan, fraction) = group.compute_cartesian_path(
waypoints, # waypoints to follow
0.01, # step size
0.0, # jump threshold
True) # avoid collisions
# plan the joint space path using RRTConnect
group.set_pose_target(goal_pose)
plan = group.plan()
在这个示例代码中,首先使用moveit_commander库初始化了MoveIt commander,并定义了RobotCommander、PlanningSceneInterface和MoveGroupCommander对象。然后使用set_planner_id()方法将规划器设置为RRTConnect。接下来,定义了笛卡尔空间轨迹规划和关节空间轨迹规划所需的起始位姿和目标位姿,并使用compute_cartesian_path()和plan()方法分别进行了笛卡尔空间轨迹规划和关节空间轨迹规划。