MoveItConfigsBuilder 配置机器人的完整示例

最新推荐文章于 2025-06-11 17:47:40 发布

ZPC8210

最新推荐文章于 2025-06-11 17:47:40 发布

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分类专栏： ROS 文章标签：机器人人工智能 c++

本文链接：https://blog.youkuaiyun.com/ZPC8210/article/details/144989012

from moveit_configs_utils import MoveItConfigsBuilder

moveit_config = (
    MoveItConfigsBuilder("fairino3_v6_robot", package_name="fairino3_v6_left_arm")
    .robot_description(file_path="config/fairino3_v6_robot.urdf.xacro")
    .robot_description_semantic(file_path="config/fairino3_v6_robot.srdf")
    .robot_description_kinematics(file_path="config/kinematics.yaml")
    .joint_limits(file_path="config/joint_limits.yaml")
    .trajectory_execution(file_path="config/moveit_controllers.yaml")
    .planning_scene_monitor(
        publish_robot_description=True,
        publish_robot_description_semantic=True,
        publish_geometry_updates=True,
        publish_state_updates=True,