r2机械手

最新推荐文章于 2022-03-29 21:36:50 发布

狂迷小子

最新推荐文章于 2022-03-29 21:36:50 发布

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分类专栏： ROS ubuntu indigo

本文链接：https://blog.csdn.net/qq_16397695/article/details/53422473

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这篇博客介绍了NASA的R2机械手在Gazebo模拟环境中的应用，包括链接到Nasa ROS包的Bitbucket和GitHub资源。内容涉及到R2在indigo和groovy分布的ROS包搜索，以及对grasshopper2.gazebo.xacro、asus.gazebo.xacro和r2.gazebo.controller.xacro等文件的修改。

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https://gitlab.com/nasa-jsc-robotics/robonaut2/wikis/R2%20Gazebo%20Simulation
https://bitbucket.org/nasa_ros_pkg/
https://github.com/nasa/NASA-3D-Resources
indigo源：

git clone https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_rosdep.git
git clone https://bitbucket.org/nasa_ros_pkg/deprecated_misc.git
git clone https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_common.git
git clone https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_robodyn.git
git clone https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_r2_simulator.git
git clone https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_r2_common.git

http://www.ros.org/browse/search.php?distro=groovy&q=nasa

groovy源：

git clone https://bitbucket.org/nasa_ros_pkg/nasa_r2_simulator
git clone https://bitbucket.org/nasa_ros_pkg/nasa_r2_common

rosstack profile && rospack profile

git clone https://gitlab.com/nasa-jsc-robotics/nasa_common_cmake.git
git clone https://gitlab.com/nasa-jsc-robotics/r2_description.git
git clone https://gitlab.com/nasa-jsc-robotics/r2_gazebo.git

git clone https://github.com/nasa/NASA-3D-Resources.git
roslaunch r2_gazebo empty_world.launch
roslaunch r2_gazebo empty_ISS.launch
roslaunch r2_gazebo r2_gazebo.launch
roslaunch r2_gazebo table_world.launch
roslaunch r2_controllers_gazebo r2_gaze_controller.launch
source /opt/ros/indigo/setup.bash
source devel/setup.bash

修改grasshopper2.gazebo.xacro文件：

<?xml version="1.0"?>
<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="grasshopper2_cam_gazebo_v0" params="camera_name frame_name">
      <gazebo reference="${frame_name}">
          <sensor name="${camera_name}" type="depth">
            <always_on>true</always_on>
            <update_rate>10.0</update_rate>
            <