python 运动控制_ROS探索总结（六十五）—— 古月私房课 | MoveIt!编程驾驭机械臂运动控制...

这个链接暂时打不开，是设置的问题吗，这是那个源码，和您书上的没啥区别啊

import rospy, sys

import moveit_commander

from moveit_msgs.msg import RobotTrajectory

from trajectory_msgs.msg import JointTrajectoryPoint

from geometry_msgs.msg import PoseStamped, Pose

from tf.transformations import euler_from_quaternion, quaternion_from_euler

class MoveItIkDemo:

def __init__(self):

moveit_commander.roscpp_initialize(sys.argv)

rospy.init_node(‘moveit_sk_demo’)

left = moveit_commander.MoveGroupCommander(‘left’)

end_effector_link = left.get_end_effector_link()

reference_frame = ‘base_link’

left.set_pose_reference_frame(reference_frame)

left.allow_replanning(True)

left.set_goal_position_tolerance(0.01)

left.set_goal_orientation_tolerance(0.05)

left.set_named_target(‘home’)

left.go()

rospy.sleep(2)

target_pose = PoseStamped()

target_pose.header.frame_id = reference_frame

target_pose.header.stamp = rospy.Time.now()

target_pose.pose.position.x = 3.0704

target_pose.pose.position.y = -22.702

target_pose.pose.position.z = 4.2895

target_pose.pose.orientation.x = 0.72141

target_pose.pose.orientation.y = -0.0021503

target_pose.pose.orientation.z = -0.013211

target_pose.pose.orientation.w = 0.69238

left.set_start_state_to_current_state()

left.set_pose_target(target_pose, end_effector_link)

traj = left.plan()

left.execute(traj)

rospy.sleep(1)

left.set_named_target(‘home’)

left.go()

moveit_commander.roscpp_shutdown()

moveit_commander.os._exit(0)

if __name__ == “__main__”:

MoveItIkDemo()