-
安装并配置好ROS、MoveIt和Gazebo。
-
导入ABB YuMi双臂机器人模型到Gazebo。
-
使用MoveIt配置双臂机器人的URDF文件。
-
编写一个Python脚本来实现双臂协同运动。
以下是一个简单的Python脚本示例，用于实现ABB YuMi双臂机器人的协同运动：
```python
#!/usr/bin/env python
-*- coding: utf-8 -*-
import sys
import rospy
import moveit_commander
from moveit_msgs.msg import PlanningScene, PlanningSceneWorldReference
from gazebo_msgs.srv import SpawnModel, DeleteModel
from geometry_msgs.msg import PoseStamped
def main():
初始化节点
rospy.init_node('yumi_dual_arm_moveit', anonymous=True)
初始化MoveIt指挥官
moveit_commander.roscpp_initialize(sys.argv)
创建双臂机器人的MoveGroupCommander对象
left_arm = moveit_commander.MoveGroupCommander("left_manipulator")
right_arm = moveit_commander.MoveGroupCommander("right_manipulator")
添加双臂机器人到规划场景
planning_scene = PlanningScene()
scene_world_reference = PlanningSceneWorldReference()
scene_world_reference.header.frame_id = "base_link"
planning_scene.world_reference = scene_world_reference
planning_scene.robot_states = [left_arm.get_current_state(), right_arm.get_current_state()]
moveit_commander.planning_scene.publish(planning_scene)
设置目标姿态
target_pose = PoseStamped()
target_pose.header.frame_id = "base_link"
target_pose.pose.position.x = 0.5
target_pose.pose.position.y = 0.0
target_pose.pose.position.z = 0.5
target_pose.pose.orientation.w = 1.0
设置目标约束
left_constraint = moveit_commander.Constraints()
left_constraint.orientation_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
left_constraint.orientation_path_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
left_constraint.preferred_orientation = target_pose.pose.orientation
right_constraint = moveit_commander.Constraints()
right_constraint.orientation_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
right_constraint.orientation_path_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
right_constraint.preferred_orientation = target_pose.pose.orientation
根据约束求解路径规划问题
left_goal = left_arm.set_joint_value_target(left_constraint)
right_goal = right_arm.set_joint_value_target(right_constraint)
left_arm.set_max_velocity_scaling_factor(1.5)
right_arm.set_max_velocity_scaling_factor(1.5)
left_arm.set_start_state_to_current_state()
right_arm.set_start_state_to_current_state()
left_group = left_arm.go(wait=True)
right_group = right_arm.go(wait=True)
打印结果
print("Left arm joint values: " + str(left_group.get_current_joint_values()))
print("Right arm joint values: " + str(right_group.get_current_joint_values()))
确保所有线程都已关闭
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
if name == 'main':
main()
```
这个脚本首先导入了所需的库，然后初始化了节点和MoveIt指挥官。接下来，它创建了两个MoveGroupCommander对象，分别用于控制ABB YuMi双臂机器人的左右臂。然后，它将双臂机器人添加到规划场景中，并设置了目标姿态和约束。最后，它使用这些约束来求解路径规划问题，并打印出最终的关节值。