MoveIt!+ Gazebo 联合仿真环境搭建(巨简单版)
参考书籍和大佬们的贴子,笔者将MoveIt!实现机器人控制的方法总结为以下四个步骤:
1)创建机器人URDF模型(改为xacro格式也行),并添加运动插件。
在已建立的URDF模型里面,为 joints 添加传动装置 (add transmission for every joint),添加 gazebo 插件(add one gazebo plugin),可参考以下代码。
<!--add transmission for every joint-->
<transmission name="trans_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>