双臂采用moveit和gazebo联合仿真配置文件

目的：将moveit的规划好的路径传给gazebo

主要的难点添加控制器命名要相对应。

moveit处配置

1、新建gazebo中的控制器

 在moveit内新建controllers_gazebo.yaml ，其与controllers.yaml类似；(主要是命名空间)

controller_manager_ns: controller_manager
controller_list:
  - name: arm/left_rm65_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - L1_joint
      - L2_joint
      - L3_joint
      - L4_joint
      - L5_joint
      - L6_joint

  - name: arm/right_rm65_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - R1_joint
      - R2_joint
      - R3_joint
      - R4_joint
      - R5_joint
      - R6_joint

  - name: arm/dh_gripper_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - L1_tool_trans
      - L2_tool_trans

2、去改moveit的double_arm_moveit_controller_manager.launch.xml添加controllers配置

<launch>
  <!-- Define the controller manager plugin to use for trajectory execution -->
  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />

  <!-- loads controller list to the param server -->

  <!--moveit单独使用，采用这个控制器-->
  <!--<rosparam file="$(find double_arm_moveit_config)/config/ros_controllers.yaml"/>-->

  <!--moveit与真实机械臂联用，采用这个控制器-->
  <!-- <rosparam file="$(find double_arm_moveit_config)/config/controllers.yaml"/>-->

  <!--moveit与gazebo联合仿真，采用这个控制器-->
  <rosparam file="$(find double_arm_moveit_config)/config/controllers_gazebo.yaml"/>
</launch>

 3、在moveit中创建moveit_planning_execution.launch（中文标注处需要修改）加/

<launch>
 # The planning and execution components of MoveIt! configured to 
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find double_arm_moveit_config)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 # The visualization component of MoveIt!
 <include file="$(find double_arm_moveit_config)/launch/moveit_rviz.launch"/>

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    
    <!--根据控制器的不同设置不同-->
    <rosparam param="/source_list">[/arm/joint_states]</rosparam>
  </node>

</launch>

robot端配置

4、gazebo/config 目录下的double_arm_trajectory_control.yaml 配置文件(对应上文3中文处)

arm:
  left_rm65_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - L1_joint
      - L2_joint
      - L3_joint
      - L4_joint
      - L5_joint
      - L6_joint

    gains:
      L1_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      L2_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      L3_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      L4_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      L5_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      L6_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

  right_rm65_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - R1_joint
      - R2_joint
      - R3_joint
      - R4_joint
      - R5_joint
      - R6_joint

    gains:
      R1_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      R2_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      R3_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      R4_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      R5_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      R6_joint:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

  dh_gripper_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - L1_tool_trans
      - L2_tool_trans
    gains:
      L1_tool_trans:  {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}
      L2_tool_trans:  {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}

5、在gazebo中创建launch文件运行4中建立的yaml(double_arm_trajectory_controller.launch)

<launch>

    
    <rosparam file="$(find double_arm_gazebo)/config/double_arm_trajectory_control.yaml" command="load"/>

    <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns = "/arm" args="left_arm_controller  gripper_controller  right_arm_controller"/>

</launch>

6、创建关节状态控制器（发布机器人的关节状态和TF变换）

config内创建double_arm_gazebo_joint_states.yaml

arm:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
 

launch文件创建double_arm_gazebo_states.launch 去运行yaml文件(remap映射从moveit映射到gazebo)

<launch>
    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
    <rosparam file="$(find double_arm_gazebo)/config/double_arm_gazebo_joint_states.yaml" command="load"/>

    <node name="joint_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns = "arm" args = "joint_state_controller"/>

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
        <remap from="/joint_states" to="/arm/joint_states" />
    </node>

</launch>

7、创建arm_world.launch文件去运行gazebo

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find double_arm_description)/urdf/double_arm_description.urdf.xacro'" /> 


  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
	args="-urdf -model dual_arm -param robot_description"/> 


</launch>

8、建立一个launch文件(arm_bringup_moveit.launch)去驱动所有的launch文件

<launch>
    
    <!--arg name="rvizconfig" default="$(find dual_arm_gazebo)/config/rviz_gazebo.rviz"/-->

    <!-- Launch Gazebo  -->
    <include file="$(find dual_arm_gazebo)/launch/arm_world.launch" />

    <!-- ros_control arm launch file -->
    <include file="$(find dual_arm_gazebo)/launch/arm_gazebo_states.launch" />   

    <!-- ros_control trajectory control dof arm launch file -->
    <include file="$(find dual_arm_gazebo)/launch/arm_trajectory_controller.launch" />

    <!-- moveit launch file -->
    <include file="$(find dual_arm_moveit_config)/launch/moveit_planning_execution.launch" />

</launch>

二、出现的问题有：

1、

sudo apt install ros-noetic-ros-controllers

2、

sudo apt install ros-noetic-joint-trajectory-controller

3、#include <rm_75_msgs/JointPos.h>有波浪线

在json文件上包含文件路径