环境搭建
1. 安装moveit!
sudo apt install ros-melodic-moveit
sudo apt install ros-melodic-moveit-*
sudo apt install ros-melodic-franka-ros
2. 安装catkin工具
sudo apt-get install ros-melodic-catkin python-catkin-tools
1. 安装依赖
cd ws/src
rosdep install -y --from-paths . --ignore-src --rosdistro melodic
2. package.xml配置
<build_depend>moveit_visual_tools</build_depend>
<build_depend>moveit_core</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>moveit_planners_ompl</build_depend>
<build_depend>moveit_ros_move_group</build_depend>
<build_depend>moveit_ros_planning_interface</build_depend>
<build_depend>moveit_ros_visualization</build_depend>
<exec_depend>moveit_visual_tools</exec_depend>
<exec_depend>moveit_core</exec_depend>
<exec_depend>moveit_msgs</exec_depend>
<exec_depend>moveit_planners_ompl</exec_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_ros_planning_interface</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend>
3. CMakeLists.txt配置
find_package(catkin REQUIRED COMPONENTS
roscpp
rosmsg
rospy
moveit_core
moveit_msgs
moveit_planners_ompl
moveit_visual_tools
moveit_ros_move_group
moveit_ros_planning_interface
moveit_ros_visualization
)
ur3 aubo movit机械臂运动
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此驱动包只支持: ubuntu18.04 movit aubo驱动包: aubo_robot
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启动i5_demo
roslaunch aubo_i5_moveit_config demo.launch
挂载i5真机 Usage with real robot
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.22.31
代码运行:
c++版:
rosrun robot_ctrl aubo5_move
python版:
rosrun robot_ctrl aubo5_move.py
注意代码中的 group与图中的一致
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可视化路点
订阅: /rviz_visual_tools
奥博支持的不好,看ur的
奥博:
rosrun robot_ctrl aubo5_visual_path
### ur3
rosrun ur3_moveit_config demo.launch
rosrun robot_ctrl ur3_visual_path
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可视化场景添加
aubo5_scene
添加一个场景
需要点publish scene 是障碍物生效
代码添加可视化场景添加
查看消息结构详细 rosmsg show moveit_msgs/CollisionObject
rosrun robot_ctrl aubo5_scene
rosmsg show moveit_msgs/ObjectColor
调试工具
类似断点调试
aubo5_tools
启动项目
rosrun robot_ctrl aubo5_tools
moveit助理
用户urdf模型构建机器项目,达到运动规划等功能
urdf_ws\urdf_ws\src\scara_moveit_config 列子
先启动 roscore
rosrun moveit_setup_assistant moveit_setup_assistant
roslaunch scara_moveit_config demo.launch
图像一直转不停就把 Loop Animation 的勾去掉
rosrun robot_ctrl scara_move
panda 可视化
panda_moveit_config
moveit Quickstart in RViz
sudo apt install ros-melodic-franka-ros
roslaunch panda_moveit_config demo.launch
rosrun robot_ctrl panda