Turbot4-ARM仿真入门教程-通过命令控制机械臂

说明

• 介绍如何通过命令控制机械臂

步骤

• 1. 启动仿真

#加载仿真环境
. /usr/share/gazebo/setup.bash

#gazebo
ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic_nav.launch.py robot_model:=locobot_wx200 verbose:=true 

• gazebo效果图

• 2. 相关命令

• 机械臂关节通过话题/locobot/arm_controller/joint_trajectory控制

• 使用命令格式如下：

ros2 topic pub /locobot/arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['waist', 'shoulder', 'elbow','wrist_angle', 'wrist_rotate']
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.0 ]
  velocities: []
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 0"

• 关节由上到上，分别是'waist', 'shoulder', 'elbow','wrist_angle', 'wrist_rotate'
• 腰部，肩部，肘部，腕部角度，腕部旋转
• 通过positions来定义各个关节的位置，位置采用弧度表示。0对应0度，1.57对应90度，3.14对应360度
• 可以通过srdf文件定义关节对应的姿态位

 <group_state name="Home" group="interbotix_arm">
        <joint name="elbow" value="0" />
        <joint name="shoulder" value="0" />
        <joint name="waist" value="0" />
        <joint name="wrist_angle" value="0" />
        <joint name="wrist_rotate" value="0" />
    </group_state>
    <group_state name="Sleep" group="interbotix_arm">
        <joint name="elbow" value="1.55" />
        <joint name="shoulder" value="-1.3" />
        <joint name="waist" value="0" />
        <joint name="wrist_angle" value="0.7" />
        <joint name="wrist_rotate" value="0" />
    </group_state>
    <group_state name="Upright" group="interbotix_arm">
        <joint name="elbow" value="-1.5708" />
        <joint name="shoulder" value="0" />
        <joint name="waist" value="0" />
        <joint name="wrist_angle" value="0" />
        <joint name="wrist_rotate" value="0" />
    </group_state>

• 3. home位，所有关节都是0

ros2 topic pub /locobot/arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['waist', 'shoulder', 'elbow','wrist_angle', 'wrist_rotate']
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.0 ]
  velocities: []
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 0"

• rviz效果图

• 4. 站立位Upright

ros2 topic pub /locobot/arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['waist', 'shoulder', 'elbow','wrist_angle', 'wrist_rotate']
points:
- positions: [0.0, 0.0, -1.57, 0.0, 0.0 ]
  velocities: []
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 0"

• rviz效果图

• 5. 睡眠位sleep

ros2 topic pub /locobot/arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['waist', 'shoulder', 'elbow','wrist_angle', 'wrist_rotate']
points:
- positions: [0.0, -1.3, 1.55, 0.7, 0.0 ]
  velocities: []
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 0"

• rviz效果图