ros学习笔记

ROS 学习笔记 （一）—rviz gazebo

描述：本例程基于古月居的博客：https://www.guyuehome.com/1159 和开源的大族机器人的elfin_description。
工具准备：默认安装ros-noetic Visual Studio Code

一、运行 display

node 节点的类型修改为：robot_state_publisher

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

roslaunch elfin_description display.launch

配置moveit 助手

1、启动 ros 并启动 moveit 助手
一个终端

roscore

另一个终端

rosrun moveit_setup_assistant moveit_setup_assistant

具体配置过程详见其他教程。（记得安装一些必要的ros 功能包）效果展示

roslaunch elfin_probot_gazebo probot_elfin_bringup_moveit.launch

具体配置过程–参照古月居anno机器人配置代码代码

如果使用rviz 和 gazebo 需要添加几个文件：

elfin_moveit_config中配置：

​ controllers_gazebo.yaml 用来配置控制器

​ moveit_planning_execution.launch 用来启动

controllers_gazebo.yaml

controller_manager_ns:  controller_manager
controller_list: 
  - name: probot_elfin/arm_joint_controller #命名空间/名称
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - elfin_joint1 #六个关节的名称
      - elfin_joint2
      - elfin_joint3
      - elfin_joint4
      - elfin_joint5
      - elfin_joint6

moveit_planning_execution.launch

<?xml version="1.0"?>
<launch>

     # The planning and execution components of MoveIt! configured to 
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find elfin_moveit_config_lhl)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 # The visualization component of MoveIt!
 <include file="$(find elfin_moveit_config_lhl)/launch/moveit_rviz.launch">
    <arg name="config" value="true" />
    <arg name="debug" value="false"/>
 </include>

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <!--source_list 为命名空间的名字 启动ros节点发布 joint_states-->
    <rosparam param="/source_list">[/probot_elfin/joint_states]</rosparam>
  </node>
  <!--arm_joint_controller-->
</launch>

elfin_probot_gazebo 配置
新建文件夹 config
probot_elfin_gazebo_joint_states.yaml 文件

probot_elfin: #命名空间
  joint_state_controller: #控制器
    type: joint_state_controller/JointStateController
    publish_rate: 50 #发布频率

	probot_elfin_trajectory_control.yaml 文件

probot_elfin: #命名空间
  arm_joint_controller: #controllers_gazebo.yaml 中的名称
    type: "position_controllers/JointTrajectoryController"
    joints:

      - elfin_joint1 #六个关机名称
      - elfin_joint2
      - elfin_joint3
      - elfin_joint4
      - elfin_joint5
      - elfin_joint6

    gains:
      elfin_joint1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      elfin_joint2:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      elfin_joint3:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      elfin_joint4:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      elfin_joint5:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      elfin_joint6:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

新建文件夹 launch
	probot_elfin_bringup_moveit.launch 启动所以文件

<?xml version="1.0"?>
<launch>
    <!--打开gazebo仿真环境-->
    <include file="$(find elfin_probot_gazebo)/launch/probot_elfin_gazebo_world.launch"/>
    <!--机械臂控制文件-->
    <include file="$(find elfin_probot_gazebo)/launch/probot_elfin_gazebo_states.launch"/>
    <!--ros_control trajectory control dof arm launch file-->
    <include file="$(find elfin_probot_gazebo)/launch/probot_elfin_trajectory_controller.launch"/>
    <!-- moveit launch file -->
    
    <include file="$(find elfin_moveit_config_lhl)/launch/moveit_planning_execution.launch"/>
    
</launch>

	probot_elfin_gazebo_world.launch 启动gazebo环境

<!-- We resume the logic in empty_world.launch -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find elfin_description)/urdf/elfin3.urdf.xacro'" /> 
    

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model probot_elfin -param robot_description"/> 
	
  <node name="fake_joint_calibration" pkg="rostopic" type="rostopic"  args ="pub /calibrate std_msgs/Bool true" >
    
  </node>

</launch>

	probot_elfin_gazebo_states.launch 

<?xml version="1.0"?>
<launch>
    <!--将关节控制器参数加载到服务器中-->
    <rosparam command="load" file="$(find elfin_probot_gazebo)/config/probot_elfin_gazebo_joint_states.yaml"/>
    <node name="joint_controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/probot_elfin" args="joint_state_controller"/>
    <!--运行robot_state_publisher节点，发布tf-->
    <!--probot_elfin 命名空间-->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" respawn="false" >
       <remap from="/joint_states" to="/probot_elfin/joint_states"/>
        
    </node>
    
    

</launch>

	probot_elfin_trajectory_controller.launch 

<?xml version="1.0"?>
<launch>

    <rosparam command="load" file="$(find elfin_probot_gazebo)/config/probot_elfin_trajectory_control.yaml"/>
    <!--probot_elfin 命名空间-->
    <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/probot_elfin" args="arm_joint_controller"/>

</launch>

对urdf 文件进行修改

  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <!--添加命名空间-->
    <robotNamespace>/probot_elfin</robotNamespace>
    </plugin>
  </gazebo>

可以了：

文件链接：在我的gazebo配置压缩包中，不希望被下载。
https://download.csdn.net/download/qq_40569926/13909861
压缩包中：
probot_elfin_gazebo_joint_states.yaml 文件 的 joint_state_controller: #控制器写错了。改一下错误就没有了