ROS2与Interbotix系列机械臂教程-moveit上使用gui控制

文章说明

本教程主要介绍如何在ros2环境下moveit上使用gui控制机械臂

操作步骤

假设正在现实中使用WidowX-250s机械臂，运行该命令

$ ros2 launch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch.py robot_model:=wx250s

moveit启动成功之后，会弹出一个gui窗口

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可以通过调整gui中滑块来指定夹具的位置和方向
- Plan Pose - MoveIt尝试规划夹具移动所需位置和方向的轨迹
- Plan Position - MoveIt尝试规划夹具移动所需位置的轨迹，忽略具体方向
- Plan Orientation -MoveIt尝试规划夹具移动所需方向的轨迹，忽略具体位置
- Execute - 执行规划到的轨迹
- Reset - 重置gui中的所有参数值为0

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有时候MoveIt会出现无法成功有效轨迹的情况。其主要有两个可能：一是机械臂无法在物理上到达所需的位置，二是MoveIt生成的随机轨迹是不能执行的。如果很明显该位置在物理上可以到达，请多点击按钮重新规划轨迹

指定位置和方向先比较于仅是指定位置时，那找到有效的轨迹要困难得多，特别是对于较低自由度的机械臂

通过下面列表，可更一步了解启动文件的其他参数

Argument	Description	Default	Choices
robot_model	model type of the Interbotix Arm such as ‘wx200’ or ‘rx150’.		`px100`, `px150`, `rx150`, `rx200`, `wx200`, `wx250`, `wx250s`, `vx250`, `vx300`, `vx300s`, `mobile_px100`, `mobile_wx200`, `mobile_wx250s`
robot_name	name of the robot (typically equal to `robot_model`, but could be anything).	LaunchConfig(`robot_model`)
external_srdf_loc	the file path to the custom semantic description file that you would like to include in the Interbotix robot’s semantic description.	‘’
mode_configs	the file path to the ‘mode config’ YAML file.	LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_moveit_interface`) + ‘config’ + ‘modes.yaml’’)
use_moveit_rviz	launches RViz with MoveIt’s RViz configuration.	`true`	`true`, `false`
rviz_frame	defines the fixed frame parameter in RViz. Note that if `use_world_frame` is `false`, this parameter should be changed to a frame that exists.	`world`
rviz_config_file	file path to the config file RViz should load.	LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_moveit_interface`) + ‘rviz’ + ‘xsarm_moveit_interface.rviz’’)
world_filepath	the file path to the Gazebo ‘world’ file to load.	LocalVar(‘FindPackageShare(pkg= `interbotix_common_sim`) + ‘worlds’ + ‘interbotix.world’’)
moveit_interface_type	if ‘cpp’, launches the custom moveit_interface C++ API node; if ‘python’, launch the Python Interface tutorial node; only the cpp option is currently supported.	`cpp`	`cpp`,
use_moveit_interface_gui	launch a custom GUI to interface with the moveit_interface node so that the user can command specific end-effector poses (defined by ‘ee_gripper_link’).	`true`	`true`, `false`
use_sim_time	tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock; this value is automatically set to ‘true’ if using Gazebo hardware.	`false`	`true`, `false`
base_link_frame	name of the ‘root’ link on the arm; typically `base_link`, but can be changed if attaching the arm to a mobile base that already has a `base_link` frame.	`base_link`
use_gripper	if `true`, the default gripper is included in the `robot_description` parameter; if `false`, it is left out; set to `false` if not using the default gripper.	`true`	`true`, `false`
show_ar_tag	if `true`, the AR tag mount is included in the `robot_description` parameter; if `false`, it is left out; set to `true` if using the AR tag mount in your project.	`false`	`true`, `false`
show_gripper_bar	if `true`, the gripper_bar link is included in the `robot_description` parameter; if `false`, the gripper_bar and finger links are not loaded. Set to `false` if you have a custom gripper attachment.	`true`	`true`, `false`
show_gripper_fingers	if true, the gripper fingers are included in the `robot_description` parameter; if `false`, the gripper finger links are not loaded. Set to `false` if you have custom gripper fingers.	`true`	`true`, `false`
use_world_frame	set this to `true` if you would like to load a ‘world’ frame to the `robot_description` parameter which is located exactly at the ‘base_link’ frame of the robot; if using multiple robots or if you would like to attach the ‘base_link’ frame of the robot to a different frame, set this to `false`.	`true`	`true`, `false`
external_urdf_loc	the file path to the custom urdf.xacro file that you would like to include in the Interbotix robot’s urdf.xacro file.	‘’
hardware_type	configures the `robot_description` parameter to use the actual hardware, fake hardware, or hardware simulated in Gazebo.	`actual`	`actual`, `fake`, `gz_classic`
robot_description	URDF of the robot; this is typically generated by the xacro command.	Command(FindExec(`xacro`) + ‘ ‘ + LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_descriptions`) + ‘urdf’ + LaunchConfig(`robot_model`)’) + ‘.urdf.xacro ‘ + ‘robot_name:=’ + LaunchConfig(`robot_name`) + ‘ ‘ + ‘base_link_frame:=’ + LaunchConfig(`base_link_frame`) + ‘ ‘ + ‘use_gripper:=’ + LaunchConfig(`use_gripper`) + ‘ ‘ + ‘show_ar_tag:=’ + LaunchConfig(`show_ar_tag`) + ‘ ‘ + ‘show_gripper_bar:=’ + LaunchConfig(`show_gripper_bar`) + ‘ ‘ + ‘show_gripper_fingers:=’ + LaunchConfig(`show_gripper_fingers`) + ‘ ‘ + ‘use_world_frame:=’ + LaunchConfig(`use_world_frame`) + ‘ ‘ + ‘external_urdf_loc:=’ + LaunchConfig(`external_urdf_loc`) + ‘ ‘ + ‘hardware_type:=’ + LaunchConfig(`hardware_type`) + ‘ ‘)

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