Moveit && 真实机械臂

https://blog.csdn.net/qq_27865227/article/details/119650972

参考教程

前期知识

follow_joint_trajectory的格式

我们可以在命令行输入这个订阅这个话题，然后在rviz里面运行之后可以看到他的一个格式

1rostopic echo /arm_7dof/arm_controller/follow_joint_trajectory/goal

1header: 
2  seq: 1
3  stamp: 
4    secs: 177
5    nsecs: 281000000
6  frame_id: ''
7goal_id: 
8  stamp: 
9    secs: 177
10    nsecs: 281000000
11  id: "/move_group-2-177.281000000"
12goal: 
13  trajectory: 
14    header: 
15      seq: 0
16      stamp: 
17        secs: 0
18        nsecs:         0
19      frame_id: "world"
20    joint_names: 
21      - joint1
22      - joint2
23      - joint3
24      - joint4
25      - joint5
26      - joint6
27      - joint7
28    points: 
29      - 
30        positions: [0.015166845039457755, -0.27425455778553953, -3.082853418324648, 0.8833036868286568, 3.048520446767654, 0.877150518378369, -0.21636067809133408]
31        velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
32        accelerations: [-0.09891003377306339, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
33        effort: []
34        time_from_start: 
35          secs: 0
36          nsecs:         0
37      - 
38        positions: [0.005273659482528944, -0.2689186290136684, -3.0799010620287497, 0.7860407613195349, 3.0540116465554057, 0.7898463768061345, -0.22007649079977906]
39        velocities: [-0.03804472517268003, 0.020519573043351676, 0.011353429412897673, -0.37402930018772496, 0.021116675270179592, -0.3357323132614436, -0.014289338097669973]
40        accelerations: [-0.10102152820530179, 0.0544863609225982, 0.030147169797029708, -0.9931734643113422, 0.05607186795872897, -0.8914820963913125, -0.037942993808389024]
41        effort: []
42        time_from_start: 
43          secs: 0
44          nsecs: 447262926
45      - 
46        positions: [-0.004619526074399867, -0.2635827002417973, -3.076948705732851, 0.6887778358104131, 3.0595028463431575, 0.7025422352338999, -0.22379230350822404]
47        velocities: [-0.053764776444935575, 0.028998244892397485, 0.01604465774157217, -0.5285779202550125, 0.02984206930154785, -0.47445664769329754, -0.020193681643914742]
48        accelerations: [0.0022311488119770057, -0.0012033789391324974, -0.0006658266141095222, 0.02193510466879971, -0.0012383962488522686, 0.019689161860829918, 0.0008380042062550468]
49        effort: []
50        time_from_start: 
51          secs: 0
52          nsecs: 630571718
53      - 
54        positions: [-0.014512711631328678, -0.25824677146992614, -3.0739963494369524, 0.5915149103012912, 3.064994046130909, 0.6152380936616655, -0.22750811621666905]
55        velocities: [-0.03783944680602874, 0.02040885534412802, 0.01129216958160195, -0.37201114593706947, 0.021002735779515936, -0.33392079850912065, -0.014212236949694765]
56        accelerations: [0.09949763857662218, -0.053664445022201177, -0.02969240574619919, 0.9781916404503127, -0.055226035000529056, 0.8780342665576202, 0.037370631305338166]
57        effort: []
58        time_from_start: 
59          secs: 0
60          nsecs: 815285651
61      - 
62        positions: [-0.024405897188257492, -0.252910842698055, -3.0710439931410543, 0.49425198479216936, 3.0704852459186607, 0.527933952089431, -0.23122392892511404]
63        velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
64        accelerations: [0.09891003377306341, -0.05334751804658081, -0.02951705082827317, 0.9724147183549502, -0.05489988571787972, 0.8728488454752797, 0.037149930967307745]
65        effort: []
66        time_from_start: 
67          secs: 1
68          nsecs: 262548576
69  path_tolerance: []
70  goal_tolerance: []
71  goal_time_tolerance: 
72    secs: 0
73    nsecs:         0
74---
75

知道他的格式对后面使用有很大的帮助

可以看到他是有几个路径点组成的轨迹，并不是很多的路径点，只有几个关键节点

使用

1rosmsg show control_msgs/FollowJointTrajectoryActionResult

也可以看到他的action消息结构

Move_group结构

MoveIt!控制接口配置

controller_list配置

先在moveit_7dof/config里面新建一个 **arm_7dof_controller.yaml **文件，内容可以和simple_controller一样，用来配置moveit的控制器。

1controller_list:
2  - name: arm_7dof/arm_controller
3    action_ns: follow_joint_trajectory
4    type: FollowJointTrajectory
5    default: True
6    joints:
7      - joint1
8      - joint2
9      - joint3
10      - joint4
11      - joint5
12      - joint6
13      - joint7

启动控制器

在moveit包的/launch文件里面新建 arm_7dof_moveit_controller_manager.launch.xml

1<launch>
2  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
3  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
4  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
5
6  <!-- load controller list -->
7  <arg name="use_controller_manager" default="true" />
8  <param name="use_controller_manager" value="$(arg use_controller_manager)" />
9
10  <!-- Load controller list to the parameter server -->
11  <rosparam file="$(find moveit_7dof)/config/arm_7dof_moveit_controllers.yaml" />
12</launch>

启动控制器管理者

这里(argmoveit_controller_manager)_moveit_controller_manager.launch.xml，需要和上面启动控制器的文件名做匹配，可以直接修改，也可以通过传参方式实现（见下）

1<include file="$(dirname)/$(argmoveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />

moveit启动 fake_execution_type 启动参数修改

可以通过传参的方式实现

1<!-- Launch MoveIt -->
2  <include file="$(dirname)/demo.launch" pass_all_args="true">
3      <arg name="moveit_controller_manager" value="arm_7dof"/>
4      <arg name="fake_execution_type" value="false"/>
5  </include>

订阅话题名配置

这个可以加在demo里面，去做一个分类

1<group if="$(eval arg('moveit_controller_manager') == 'arm_7dof')">
2      <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
3      <param name="/use_gui" value="false"/> 
4      <rosparam param="/source_list">[/arm_7dof/joint_states]</rosparam>
5      </node>
6  </group>

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