环境搭建

1. 安装moveit!

sudo apt install ros-melodic-moveit sudo apt install ros-melodic-moveit-* sudo apt install ros-melodic-franka-ros

2. 安装catkin工具

sudo apt-get install ros-melodic-catkin python-catkin-tools

1. 安装依赖

cd ws/src rosdep install -y --from-paths . --ignore-src --rosdistro melodic

2. package.xml配置

<build_depend>moveit_visual_tools</build_depend> <build_depend>moveit_core</build_depend> <build_depend>moveit_msgs</build_depend> <build_depend>moveit_planners_ompl</build_depend> <build_depend>moveit_ros_move_group</build_depend> <build_depend>moveit_ros_planning_interface</build_depend> <build_depend>moveit_ros_visualization</build_depend> <exec_depend>moveit_visual_tools</exec_depend> <exec_depend>moveit_core</exec_depend> <exec_depend>moveit_msgs</exec_depend> <exec_depend>moveit_planners_ompl</exec_depend> <exec_depend>moveit_ros_move_group</exec_depend> <exec_depend>moveit_ros_planning_interface</exec_depend> <exec_depend>moveit_ros_visualization</exec_depend>

3. CMakeLists.txt配置

find_package(catkin REQUIRED COMPONENTS roscpp rosmsg rospy moveit_core moveit_msgs moveit_planners_ompl moveit_visual_tools moveit_ros_move_group moveit_ros_planning_interface moveit_ros_visualization )

 

 

 

ur3 aubo movit机械臂运动

此驱动包只支持: ubuntu18.04 movit aubo驱动包: aubo_robot

启动i5_demo

roslaunch aubo_i5_moveit_config demo.launch

挂载i5真机 Usage with real robot

roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.22.31

 

代码运行:

c++版:

rosrun robot_ctrl aubo5_move

python版:

rosrun robot_ctrl aubo5_move.py

注意代码中的 group与图中的一致

 

可视化路点

 

订阅: /rviz_visual_tools

 

 

奥博支持的不好,看ur的

奥博:

rosrun robot_ctrl aubo5_visual_path

### ur3

rosrun ur3_moveit_config demo.launch

rosrun robot_ctrl ur3_visual_path

 

可视化场景添加

aubo5_scene

添加一个场景

需要点publish scene 是障碍物生效

 

 

 

代码添加可视化场景添加

查看消息结构详细 rosmsg show moveit_msgs/CollisionObject

rosrun robot_ctrl aubo5_scene

rosmsg show moveit_msgs/ObjectColor

 

 

调试工具

类似断点调试

aubo5_tools

 

启动项目

rosrun robot_ctrl aubo5_tools

 

moveit助理

用户urdf模型构建机器项目,达到运动规划等功能

urdf_ws\urdf_ws\src\scara_moveit_config 列子

先启动 roscore

rosrun moveit_setup_assistant moveit_setup_assistant

 

roslaunch scara_moveit_config demo.launch

 

图像一直转不停就把 Loop Animation 的勾去掉

 

rosrun robot_ctrl scara_move

 

panda 可视化

panda_moveit_config

moveit Quickstart in RViz

sudo apt install ros-melodic-franka-ros

roslaunch panda_moveit_config demo.launch

rosrun robot_ctrl panda