Chen Yulin's Blog

URDF 生成

使用solidworks URDF exporter.

https://www.bilibili.com/video/BV1WX4y157gg/?spm_id_from=333.337.search-card.all.click&vd_source=45fc7197aaca220eec8fef4c2711efe3

需要注意不要使用 lock constrain 限制零件位置。

URDF with Moveit2

https://moveit.picknik.ai/main/doc/examples/examples.html#integration-with-a-new-robot
首先克隆moveit2的示例仓库:

git clone -b humble https://github.com/moveit/moveit2_tutorials

编译项目colcon build，启动setup assistant：

ros2 launch moveit_setup_assistant setup_assistant.launch.py

随后按照教程配置SRDF。
注意不要将virtual_joint加入group。
注意更改moveit_controllers.yaml:

# moveit_controllers.yaml
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - arm_controller
  
  arm_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - j1
      - j2
      - j3
      - j4
      - j5
      - j6

注意更改ros2_controllers.yaml:

arm_controller:
  ros__parameters:
    joints:
      - j1
      - j2
      - j3
      - j4
      - j5
      - j6
    
    command_interfaces:
      - position
    
    state_interfaces:
      - position
      - velocity

配置完成后可以启动示例代码：

ros2 launch panda_moveit_config demo.launch.py

会将机械臂可视化并且拖动目标位置之后可以plan&execute。