Dofbot机械臂学习（1）

Yahboom公司机械臂Dofbot从零部署笔记，看这篇的同学首先需要购买他们公司的Dofbot机械臂 + 树莓派组合，出厂已经配置好部署完毕的镜像。

需要适当的前置知识：什么是URDF模型、什么是moveit和轨迹规划。

一、创建URDF模型

1、创造新的工作空间

在根目录下创建工作空间

mkdir -p catkin_ws/src
cd catkin_ws/
catkin_make

进入src目录：

catkin_create_pkg dofbot_description urdf xacro

2、文件配置

进入dofbot_description目录，建立四个文件夹：

• urdf：存放机器人模型的URDF或xacro文件
• meshes：存放URDF中引用的模型渲染文件
• launch：保存相关启动文件
• config：保存rviz的配置文件

2.1 urdf文件

进入urdf目录，创建模型文件：

touch dofbot.urdf

  dofbot机械臂的urdf模型

<?xml version="1.0" encoding="utf-8" ?>
<robot name="yahboom_dofbot">
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/base_link.STL" />
            </geometry>
            <material name="">
                <color rgba="0.2 0.2 0.2 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/base_link.STL" />
            </geometry>
        </collision>
    </link>
    
    <link name="arm_link1">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/visual/arm_link1.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 1 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/collision/arm_link1.STL" />
            </geometry>
        </collision>
    </link>
    
    <joint name="arm_joint1" type="revolute">
        <origin xyz="0 0 0.06605" rpy="-0.010805 0 1.5" />
        <parent link="base_link" />
        <child link="arm_link1" />
        <axis xyz="0 0 1" />
        <limit effort="30" velocity="10.0" lower="-1.5708" upper="1.5708" />
    </joint>
    
    
    <link name="arm_link2">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/visual/arm_link2.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 1 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/collision/arm_link2.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="arm_joint2" type="revolute">
        <origin xyz="0 0 0.0405" rpy="-1.5708 0 0" />
        <parent link="arm_link1" />
        <child link="arm_link2" />
        <axis xyz="0 0 -1" />
        <limit lower="-1.5708" upper="1.5708" effort="100" velocity="10" />
    </joint>
    <link name="arm_link3">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://dofbot_description/meshes/visual/arm_link3.STL" />
            </geomet