six_robot(五)——Kinetic版本调试

cd ~/catkin_ws
source devel/setup.bash

通过运行编译好的move_group_interface_tutorial.cpp脚本进行运动规划，如果提示错误，可以source一下

roslaunch sixrobot_moveit_config demo_test.launch
roslaunch moveit_tutorials move_group_interface_tutorial.launch

使用moveit_commander_cmdline.py工具和moveIt进行交互

roslaunch sixrobot_moveit_config demo.launch 或 roslaunch sixrobot_moveit_config demo_test.launch
rosrun moveit_commander moveit_commander_cmdline.py
use arm

使用如下命令来获取机器人当前位置姿态

current

## MoveIt+Gazebo

roslaunch sixrobot_gazebo sixrobot_bringup_moveit.launch
rostopic echo /sixrobot/arm_controller/follow_joint_trajectory/goal
rostopic echo /sixrobot/joint_states             //在终端打印位姿和速度信息

rqt_graph

或

roslaunch sixrobot_gazebo sixrobot_gazebo_world.launch
roslaunch sixrobot_moveit_config moveit_planning_execution.launch sim:=true
roslaunch sixrobot_moveit_config moveit_rviz.launch config:=true

roslaunch sixrobot_moveit_config demo.launch
rosrun sixrobot_demo moveit_fk_demo.py
rosrun sixrobot_demo moveit_ik_demo.py

rosrun sixrobot_demo moveit_cartesian_demo.py _cartesian:=Ture

rosrun sixrobot_demo moveit_cartesian_demo.py _cartesian:=false

rosrun sixrobot_demo moveit_circle_demo.py
需要加“RobotModel”里打开link6的show Trail

视觉

roslaunch sixrobot_gazebo sixrobot_anno_with_gripper_gazebo_world.launch
rosrun robot_vision vision_manager
rqt_image_view

rostopic list
rostopic echo /object_detect     //查看被发布的数据

roslaunch sixrobot_grasping sixrobot_anno_grasping_demo.launch
rqt_image_view

roslaunch sixrobot_bringup sixrobot_bringup.launch sim:=true