博客地址:https://www.cnblogs.com/zylyehuo/
参考链接
Moveit!机械臂控制
文件下载-古月ROS教程视频配套资料
解决Could not find a package configuration file provided by “manipulation_msgs“
moveIt之Unable to identify any set of controllers that can actuate the specified joints问题解决
Unable to identify any set of controllers that can actuate the specified joints: joint1 joint2 ...出错
环境配置
Ubuntu 18.04 melodic
下载地址
文件下载-古月ROS教程视频配套资料
mkdir -p 6R_mechanical_arm/src cd 6R_mechanical_arm catkin_make
将之前下载的机械臂模型中 description、gazebo、planning文件夹复制到 src文件夹下
在终端中运行 roscore
在工作空间 6R_mechanical_arm 中打开终端 roslaunch marm_description view_arm.launch
在终端执行以下命令 sudo apt-get install ros-melodic-moveit
在终端执行以下命令 rosrun moveit_setup_assistant moveit_setup_assistant
检查是否与下图一致
直接鼠标拖动机械臂末端执行器
点击 plan ,进行路径规划
点击 excute ,机械臂运动
可通过拖动箭头变换位置
以下代码运行都是在 rviz 打开的前提下执行
在工作空间中打开终端 source ./devel/setup.bash rosrun marm_planning moveit_fk_demo.py
在工作空间中打开终端 source ./devel/setup.bash rosrun marm_planning moveit_ik_demo.py
在工作空间中打开终端 source ./devel/setup.bash rosrun marm_planning moveit_cartesian_demo.py _cartesian:=True (走直线)
在工作空间中打开终端 source ./devel/setup.bash rosrun marm_planning moveit_cartesian_demo.py _cartesian:=False (走曲线)
*
在工作空间中打开终端 source ./devel/setup.bash rosrun marm_planning moveit_obstacles_demo.py
在 6R_mechanical_arm/src/marm_moveit_config/config 路径下新建 controllers.yaml 文件
controller_manager_ns: controller_manager controller_list: - name: arm/arm_joint_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 - name: arm/gripper_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_joint1 - finger_joint2
<launch> <!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> <!-- load controller_list --> <!-- Gazebo --> <rosparam file="$(find marm_moveit_config)/config/controllers.yaml"/> </launch>
<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="$(find marm_moveit_config)/launch/move_group.launch"> <arg name="publish_monitored_planning_scene" value="true" /> </include> # The visualization component of MoveIt! <include file="$(find marm_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"/> <rosparam param="/source_list">[/arm/joint_states]</rosparam> </node> </launch>
在工作空间路径下打开终端,输入以下命令 source ./devel/setup.bash roslaunch marm_gazebo arm_bringup_moveit.launch
存在模型抖动现象,暂时不调整
调整机器人目标位置
点击 Plan & Execute
解决方法
参考地址:解决Could not find a package configuration file provided by “manipulation_msgs“
下载地址:
GitHub - ros-interactive-manipulation/manipulation_msgs: The package in this repo is DEPRECATED (see https://github.com/ros-interactive-manipulation/manipulation_msgs/issues/9)
GitHub - ros-interactive-manipulation/household_objects_database_msgs: Messages for the household_objects_database. The package in this repo is DEPRECATED and you're advised to see moveit_msgs instead (see also https://github.com/ros-interactive-manipulation/household_objects_database_msgs/issues/5)
解决方案一: 在终端执行以下代码 sudo apt install ros-melodic-ros-controllers
解决方案二: 修改文件: 工作空间/src/marm_moveit_config/launch/trajectory_execution.launch.xml 将参数 pass_all_args="true" 删掉即可