机械臂全面学习---moveit和gazebo联合仿真

1、修改XXX.moveit_config/config/ros_controllers.yaml

# MoveIt-specific simulation settings
moveit_sim_hw_interface:
  joint_model_group: controllers_initial_group_
  joint_model_group_pose: controllers_initial_pose_
# Settings for ros_control control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - magician_joint1
    - magician_joint2
    - magician_joint3
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: magician_arm_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - magician_joint1
      - magician_joint2
      - magician_joint3

2、修改XXX.moveit_config/launch/ros_controllers.yaml

<?xml version="1.0"?>
<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find magician_moveit_config)/config/ros_controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args=""/>

</launch>

3、修改XXX.moveit_config/launch/moveit_rviz.launch

<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="config" default="false" />
  <arg unless="$(arg config)" name="command_args" value="" />
  <arg     if="$(arg config)" name="command_args" value="-d $(find magician_moveit_config)/launch/moveit.rviz" />

  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
	args="$(arg command_args)" output="screen">
    <rosparam command="load" file="$(find magician_moveit_config)/config/kinematics.yaml"/>
  </node>

</launch>

4、在XXX.moveit_config/launch/move_group.launch修改一点小细节

<launch>

  <include file="$(find magician_moveit_config)/launch/planning_context.launch" />

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
	   value="gdb -x $(find magician_moveit_config)/launch/gdb_settings.gdb --ex run --args" />

  <!-- Verbose Mode Option -->
  <arg name="info" default="$(arg debug)" />
  <arg unless="$(arg info)" name="command_args" value="" />
  <arg     if="$(arg info)" name="command_args" value="--debug" />

  <!-- move_group settings -->
  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="fake_execution" default="false"/>
  <arg name="max_safe_path_cost" default="1"/>
  <arg name="jiggle_fraction" default="0.05" />
  <arg name="publish_monitored_planning_scene" default="true"/>

  <arg name="capabilities" default=""/>
  <arg name="disable_capabilities" default=""/>
  <!-- load these non-default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="capabilities" value="
                a_package/AwsomeMotionPlanningCapability
                another_package/GraspPlanningPipeline
                " />
  -->

  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="disable_capabilities" value="
                move_group/MoveGroupKinematicsService
                move_group/ClearOctomapService
                " />
  -->

  <!-- Planning Functionality -->
  <include ns="move_group" file="$(find magician_moveit_config)/launch/planning_pipeline.launch.xml">
    <arg name="pipeline" value="ompl" />
  </include>

  <!-- Trajectory Execution Functionality -->
  <include ns="move_group" file="$(find magician_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_manage_controllers" value="true" />
    <arg name="moveit_controller_manager" value="magician" unless="$(arg fake_execution)"/>
    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
  </include>

  <!-- Sensors Functionality -->
  <include ns="move_group" file="$(find magician_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="magician" />
  </include>

  <!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
    <param name="capabilities" value="$(arg capabilities)"/>
    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>


    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
  </node>

</launch>

5、修改trajectory_execution.launch.xml

<launch>

  <!-- This file makes it easy to include the settings for trajectory execution  -->

  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
  <arg name="moveit_manage_controllers" default="true"/>
  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>

  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="trajectory_execution/allowed_execution_duration_scaling" value="2"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->

  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="magician" />
  <include file="$(find magician_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />

</launch>

6、创建magician_moveit_controller_manager.launch.xml文件，并且启动ros_controllers.yaml

<launch>

  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
    if no argument is passed, moveit_simple_controller_manager will be set -->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>

  <!-- loads ros_controllers to the param server -->
  <rosparam file="$(find magician_moveit_config)/config/ros_controllers.yaml"/>
</launch>

7、新建一个功能包，里面放置启动文件

<?xml version="1.0"?>
<launch>
  <arg name="paused" default="true"/>
  <arg name="gazebo_gui" default="true"/>
  <arg name="urdf_path" default="$(find magician_description)/urdf/magician.urdf.xacro"/>

  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gazebo_gui)"/>
  </include>

  <!-- send robot urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find magician_description)/urdf/magician.urdf.xacro'" />

  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" 
    args="-urdf -model magician 
          -param robot_description 
          -x 0
          -y 0
          -z 0.14
          -J magician_joint1 0
          -J magician_joint2 0.785
          -J magician_joint3 0.785
          -unpause"/>

  <rosparam file="$(find magician_description)/config/joint_state_controller.yaml" command="load"/>
  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
  
  <rosparam file="$(find magician_description)/config/magician_arm_controller.yaml" command="load"/>
  <node name="elfin_arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn magician_arm_controller" respawn="false" output="screen"/>

 <!-- # 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="$(find magician_moveit_config)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 <!-- # The visualization component of MoveIt! -->
 <arg name="display" default="true"/>
 <include file="$(find magician_moveit_config)/launch/moveit_rviz.launch" if="$(arg display)">
   <arg name="config" value="true"/>
 </include>
 
</launch>

最后编译一下，启动launch文件。

 

 到这里moveit和gazebo的联动到此结束。

我们通过以上部分举一反三，其他的机械臂在moveit和gazebo联动时也是这样配置的。