6R机械臂运动规划及仿真

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

成果图

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Part 1: Rviz 机械臂仿真

step1: 下载机械臂模型

下载地址

文件下载-古月ROS教程视频配套资料

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step2: 创建工作空间

mkdir -p 6R_mechanical_arm/src
cd 6R_mechanical_arm
catkin_make

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step3: src文件夹

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

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step4: 在 rviz 中显示机械臂模型

在终端中运行 roscore

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在工作空间 6R_mechanical_arm 中打开终端

roslaunch marm_description view_arm.launch

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step5: 安装 MoveIt

在终端执行以下命令
sudo apt-get install ros-melodic-moveit

step6: 启动 MoveIt

在终端执行以下命令
rosrun moveit_setup_assistant moveit_setup_assistant

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step7: 配置 MoveIt

(1)Start

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(2)Self-Collisions

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(3)Planning Groups(核心)

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检查是否与下图一致

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(4)Robot Poses

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(5)End Effectors

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(6)Author Information

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(7)Configuration Files

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step8: 重新编译工作空间

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step9: 启动demo文件，测试 rviz 仿真环境

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拖动规划

直接鼠标拖动机械臂末端执行器

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点击 plan ，进行路径规划

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点击 excute ，机械臂运动

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设置动画是否循环播放

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随机目标点规划

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设置初始位姿

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添加场景物体

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可通过拖动箭头变换位置

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Part 2: MoveIt 基础编程

以下代码运行都是在 rviz 打开的前提下执行

关节空间规划

在工作空间中打开终端

source ./devel/setup.bash

rosrun marm_planning moveit_fk_demo.py

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工作空间规划

在工作空间中打开终端

source ./devel/setup.bash

rosrun marm_planning moveit_ik_demo.py

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笛卡尔路径规划

显示路径

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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:=True   (走直线)

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走曲线

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)

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避障规划

在工作空间中打开终端

source ./devel/setup.bash

rosrun marm_planning moveit_obstacles_demo.py

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Part 3: Gazebo 机械臂仿真

step1: 依赖文件配置

(1)关节轨迹控制器

trajectory_control.yaml

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arm_trajectory_controller.launch

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(2)MoveIt 控制器

在 6R_mechanical_arm/src/marm_moveit_config/config 路径下新建 controllers.yaml 文件

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6R_mechanical_arm/src/marm_moveit_config/config/controllers.yaml

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

6R_mechanical_arm/src/marm_moveit_config/launch/arm_moveit_controller_manager.launch.xml

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<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>

6R_mechanical_arm/src/marm_moveit_config/launch/moveit_planning_execution.launch

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<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>

(3)启动环境

arm_world.launch

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(4)联结所有 launch 文件

arm_bringup_moveit.launch

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step2: 启动 gazebo 和 rviz 仿真环境

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

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调整 rviz 设置

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调整 gazebo 设置

存在模型抖动现象，暂时不调整

step3: 使用 MoveIt

调整机器人目标位置

点击 Plan & Execute

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问题汇总

1、Could not find a package configuration file provided by “manipulation_msgs“

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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)

2、点击 plan&execute 后，rviz有变化，gazebo无变化

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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

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