博客地址：https://www.cnblogs.com/zylyehuo/

参考链接

(相关资料图)

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

step2: 创建工作空间

mkdir -p 6R_mechanical_arm/srccd 6R_mechanical_armcatkin_make

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

step4: 在 rviz 中显示机械臂模型

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

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

step7: 配置 MoveIt(1)Start(2)Self-Collisions(3)Planning Groups(核心)

检查是否与下图一致

(4)Robot Poses(5)End Effectors(6)Author Information(7)Configuration Filesstep8: 重新编译工作空间step9: 启动demo文件，测试 rviz 仿真环境拖动规划

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

设置动画是否循环播放随机目标点规划设置初始位姿添加场景物体

可通过拖动箭头变换位置

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.bashrosrun marm_planning moveit_fk_demo.py

工作空间规划

在工作空间中打开终端source ./devel/setup.bashrosrun marm_planning moveit_ik_demo.py

笛卡尔路径规划显示路径走直线

在工作空间中打开终端source ./devel/setup.bashrosrun marm_planning moveit_cartesian_demo.py _cartesian:=True   (走直线)

走曲线

在工作空间中打开终端source ./devel/setup.bashrosrun marm_planning moveit_cartesian_demo.py _cartesian:=False  (走曲线)

*

避障规划

在工作空间中打开终端source ./devel/setup.bashrosrun marm_planning moveit_obstacles_demo.py

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.yamlarm_trajectory_controller.launch(2)MoveIt 控制器

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

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

controller_manager_ns: controller_managercontroller_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

6R_mechanical_arm/src/marm_moveit_config/launch/moveit_planning_execution.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     # The visualization component of MoveIt!              [/arm/joint_states]  

(3)启动环境arm_world.launch(4)联结所有 launch 文件arm_bringup_moveit.launchstep2: 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.bashroslaunch marm_gazebo arm_bringup_moveit.launch

调整 rviz 设置调整 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

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

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

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