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