ROS进阶

rbx2安装

cd ~
wget http://raw.githubusercontent.com/pirobot/rbx2/indigo-devel/\rbx2-prereq.sh
sh rbx2-prereq.sh

rbx1和rbx2安装

cd ~/catkin_ws/src
git clone -b indigo-devel http://github.com/pirobot/rbx1.git
git clone -b indigo-devel http://github.com/pirobot/rbx2.git
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

roslaunch pi_robot_moveit_config demo.launch
rosrun moveit_commander moveit_commander_cmdline.py

ArbotiX关节轨迹动作控制器：

roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true
rosrun rviz rviz -d 'rospack find rbx2_arm_nav'/config/arm_sim.rviz
rosrun rbx2_arm_nav trajectory_demo.py _reset:false_sync:=true

关于关节轨迹规划的代码复制尝试：

cd baxter_ws
./baxter.sh sim
#roslaunch baxter_moveit_config demo_baxter.launch sim:=true
rosrun rviz rviz -d 'rospack find baxter_moveit_config'/launch/moveit.rviz
chmod +x gripper_trajectory_demo.py
python gripper_trajectory_demo.py
rosrun baxter_examples gripper_trajectory_demo.py _reset:false_sync:=true

查看FollowJointTrajectory的完整定义

rosmsg show control_msgs/FollowJointTrajectoryAction |less

把物体与工具附在机器人上（失败）

roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true
roslaunch pi_robot_moveit_config move_group.launch
rosrun rviz rviz -d 'rospack find rbx2_arm_nav'/config/attached_object.rviz
rosrun rbx2_arm_nav moveit_attached_object_demo.py

测试过程中机械臂的轨迹正常运行，但是场景物体无法正正常加载
但在baxter中测试正好相反，规划场景物体可以加载，但轨迹无法执行

拾取和放置

roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true
roslaunch pi_robot_moveit_config move_group.launch
rosrun rviz rviz -d 'rospack find rbx2_arm_nav'/config/pick_and_place.rviz
rosrun rbx2_arm_nav moveit_pick_and_place_demo.py

rosrun rviz rviz -d 'rospack find rbx2_arm_nav'/config/moveit_cartesian_demo.py
rosrun rbx2_arm_nav moveit_cartesian_demo.py