说明:UR3+大寰AFG-95机械爪。配置moveit_setup_assistant ,通过moveit控制机器人系统运动(笔记)。
一.moveit_setup_assistant 配置
1. xarco文件位置:ur_platform_description/urdf/ur_platform.urdf.xarco
2.运行moveit_setup_assistant
roscore
新开一个终端运行:
source ./devel/setup.bash
rosrun moveit_setup_assistant moveit_setup_assistant
3.选择xacro文件
4.点击Load Files
5.点击Generate Collision Matrix
6.Define Virtual Joints
7.添加Define Planning Groups