8. Moveit：PROBOT c800 配置文件解读

机器人描述与规划配置详解

最新推荐文章于 2025-04-27 22:28:35 发布

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最新推荐文章于 2025-04-27 22:28:35 发布 · 459 阅读

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#人工智能

本文档详细解析了机器人描述文件（SRDF）中关于规划组、预设位姿、虚拟关节、碰撞规避等方面的设置，还涵盖了笛卡尔路径限制、规划算法参数、控制器配置、关节限速以及传感器配置等关键内容，展示了机器人操作系统的配置细节。

1.c800_description.srdf

<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
    This is a format for representing semantic information about the robot structure.
    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="c800_description">
    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
    <group name="arm">
        <chain base_link="base_link" tip_link="tool0" />
    </group>
    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
    <group_state name="home" group="arm">
        <joint name="joint_1" value="0" />
        <joint name="joint_2" value="0" />
        <joint name="joint_3" value="0" />
        <joint name="joint_4" value="0" />
        <joint name="joint_5" value="0" />
        <joint name="joint_6" value="0" />
    </group_state>
    <group_state name="forward" group="arm">
        <joint name="joint_1" value="0.6133" />
        <joint name="joint_2" value="0.7459" />
        <joint name="joint_3" value="0.4144" />
        <joint name="joint_4" value="0.7459" />
        <joint name="joint_5" value="0.8122" />
        <joint name="joint_6" value="1.0773" />
    </group_state>
    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link" />
    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
    <disable_collisions link1="base_link" link2="bottom_link" reason="Adjacent" />
    <disable_collisions link1="base_link" link2="link_1" reason="Adjacent" />
    <disable_collisions link1="base_link" link2="link_2" reason="Never" />
    <disable_collisions link1="bottom_link" link2="link_1" reason="Never" />
    <