6.Moveit 笛卡尔运动规划

roslaunch marm_planning arm_planning_with_trail.launch
rosrun marm_planning moveit_cartesian_demo.py _cartesian:=True

注意笛卡尔launch文件已经不同，对比如下。

arm_planning_with_trail.launch

<launch>
    <!-- 不使用仿真时间 -->
    <param name="/use_sim_time" value="false" />

    <!-- 启动 arbotix driver-->
    <arg name="sim" default="true" />

    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find marm_description)/urdf/arm.xacro'" />

    <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
        <rosparam file="$(find marm_description)/config/arm.yaml" command="load" />
        <param name="sim" value="true"/>
    </node>

    <node name="gripper_controller" pkg="arbotix_controllers" type="gripper_controller">
        <rosparam>
            model: singlesided
            invert: false
            center: 0.0
            pad_width: 0.004
            finger_length: 0.08
            min_opening: 0.0
            max_opening: 0.06
            joint: finger_joint1
        </rosparam>
    </node>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" />

    <include file="$(find marm_moveit_config)/launch/move_group.launch" />

    <!-- 启动rviz可视化界面 -->
    <node name="rviz" pkg="rviz" typ