一.查看速度信息
Joint Trajectory Action Controller设计用来接受整个关节轨迹作为输入,关节轨迹是一个关于关节位置速度加速度和结果的序列集合,可以通过rqt_graph画出关于/joint_states的消息查看:
也可以用下面语句查看速度信息:
或者直接查看消息:
使用moveit时会产生运动解决器robot's kinematic solvers,,关节控制器joint controllers ,关节限制oint limits,运动规划和传感器motion planners and sensors,这些都在config文件夹包含,主要包括:kinematics.yaml , controllers.yaml , joint_limits.yaml and sensors_rgbd.yaml,除此之外还会产生一系列launch文件和运动控制模型:
Joint Trajectory Action Controller设计用来接受整个关节轨迹作为输入,关节轨迹是一个关于关节位置速度加速度和结果的序列集合,可以通过rqt_graph画出关于/joint_states的消息查看:
$ rqt_plot /joint_states/position[2], /joint_states/position[3], /joint_states/position[4], /joint_states/position[5], /joint_states/position[6], /joint_states/position[8]
也可以用下面语句查看速度信息:
$ rqt_plot /joint_states/velocity[2], /joint_states/velocity[3],
/joint_states/velocity[4], /joint_states/velocity[5],
/joint_states/velocity[6], /joint_states/velocity[8]
或者直接查看消息:
</pre><pre name="code" class="plain">$ rosmsg show JointTrajectory
sunfc@ubuntu001:~$ rosmsg show JointTrajectory
[trajectory_msgs/JointTrajectory]:
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string[] joint_names
trajectory_msgs/JointTrajectoryPoint[] points
float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start
Both the arbotix and dynamixel_motor packages provide a joint trajectory action controller that works with Dynamixel servos.
使用moveit时会产生运动解决器robot's kinematic solvers,,关节控制器joint controllers ,关节限制oint limits,运动规划和传感器motion planners and sensors,这些都在config文件夹包含,主要包括:kinematics.yaml , controllers.yaml , joint_limits.yaml and sensors_rgbd.yaml,除此之外还会产生一系列launch文件和运动控制模型:
◦ the planning scene pipeline including collision checking and an occupancy
grid using an Octomap
◦ motion planning using OMPL (Open Motion Planning Library)
◦ the move_group node that provides topics, services and actions used for
kinematics, planning and execution, pick and place, state validation and
planning scene queries and updates
◦ a joint trajectory controller manager for launching the appropriate trajectory
controllers for the given robot
二.运用moveit配置
要使用moveit,首先安装:
$ sudo apt-get update
$ sudo apt-get install ros-indigo-moveit-full
$ sudo apt-get install ros-indigo-moveit-ikfast
这里我们安装学习的东西:
$ sudo apt-get install ros-indigo-moveit-full-pr2
首先要明白moveit需要的是urdf,所以需要转化xacro:
$ roscd rbx2_description/urdf/pi_robot
$ rosrun xacro xacro.py pi_robot_with_arm.xacro > pi_robot.urdf
查看转换是否成功:
$ check_urdf pi_robot.urdf | less
显示如下就是成功了:
robot name is: pi_robot
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
chi