ROS下驱动真实UR10机器人

1.他人博客经验分享

roslaunch ur_modern_driver ur10_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

(备注：IP_OF_THE_ROBOT需要替换成UR5机械臂本体的静态地址192.168.1.110)

roslaunch ur_modern_driver ur10_bringup.launch limited:=true robot_ip:=192.168.1.110[reverse_port:=REVERSE_PORT]

问题1：出现连接不上以太网线的问题

sudo rm /var/lib/NetworkManager/NetworkManager.state 

roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch limited:=true
roslaunch ur10_moveit_config moveit_rviz.launch config:=true

可以实现ur机器人在实际环境和rviz中同步运动

2.2020/1/3实际机器人驱动过程的bug处理

问题2：ERROR: cannot launch node of type [ur_modern_driver/ur_driver]: Cannot locate node of type [ur_driver] in package [ur_modern_driver]. Make sure file exists in package path and permission is set to executable (chmod +x)
解决方案：更改文件权限为可执行 重新catkin build
问题3： error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
解决方案：
将src/ur_hardware_interface.cpp中的

if (controller_it->hardware_interface

全部改为

 if (controller_it->type

重新catkin build