【ROS Noetic + CoppeliaSim 】双臂抓取+静态/动态避障

最新推荐文章于 2024-09-15 10:19:19 发布

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最新推荐文章于 2024-09-15 10:19:19 发布

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riddhiman13-redictive Multi-Agent-Based Planning and Landing Controller

安装CoppeliaSim EDU

Ubuntu20.04安装CoppeliaSim（EDU）
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环境： Ubuntu20.04 ROS-Noetic

DQ Robotics（稳定版本PPA）包括CoppeliaSim界面（以前的V-REP）

在这里插入代码片

Error transforming pose ‘Pose’ from frame ‘/base_link’ to frame ‘base_link’

在这里插入图片描述

Error transforming pose ‘Pose’ from frame ‘/base_link’ to frame ‘base_link’
[ WARN] [1709625248.545399234]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame panda_right_leftfinger (parent panda_right_hand) at time 1709625248.543697 according to authority unknown_publisher
[ WARN] [1709625248.545548653]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame panda_right_rightfinger (parent panda_right_hand) at time 1709625248.543697 according to authority unknown_publisher
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame panda_right_leftfinger (parent panda_right_hand) at time 1709625248.543697 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: [ WARN] [1709625248.545871324]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame panda_right_link1 (parent panda_right_link0) at time 1709625248.543697 according to authority unknown_publisher

修改 vrep_controller.cpp文件中的/base_link为base_link
重新catkin build编译

./coppeliaSim.sh ~/pmaf_ws/src/bimanual_planning_ros/vrep_scenes/kobo.ttt

roslaunch bimanual_planning_ros vrep_interface_kobo.launch task_sequence:=sim_kobo_dyn_spheres1

roslaunch bimanual_planning_ros planning_moveit_kobo.launch