Moveit+Gazebo联合仿真_6轴机械臂 moveit gazebo csdn

一 准备工作

solidworks建模导出urdf功能包
转化为xacro文件 将urdf文件转为xacro文件
生成robot_moveit_config功能包

补充：

功能包命名规范(XXX是机器人名字）
模型文件功能包：XXX_discription
moveit功能包：XXX_moveit_config
gazebo功能包：XXX_gazebo

二 配置文件

涉及到的文件

XXX_moveit_config:
	 config:
		 | controllers_gazebo.yaml 
	launch:
		 | XXX_moveit_controller_manager.launch.xml
		 | moveit_planning_execution.launch

XXX_gazebo:
	config:
		 | XXX_gazebo_joint_states.yaml
		 | trajectory_control.yaml
	 launch
		 | XXX_world.launch
		 | XXX_gazebo_states.launch
		 | XXX_trajectory_controller.launch
		 | robot_bringup_moveit.launch
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三、具体步骤

以下涉及代码可直接复制，并将¨bot¨改为自己机器人的名字。（我为了方便命名为¨bot¨）

1.moveit控制器部分：

XXX_moveit_config/launch:

moveit_planning_execution.launch

<launch>
 # The planning and execution components of MoveIt! configured to 
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find bot_moveit_config)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 # The visualization component of MoveIt!
 <include file="$(find bot_moveit_config)/launch/moveit_rviz.launch"/>
 
  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <rosparam param="/source_list">[/bot/joint_states]</rosparam>
  </node>
 
</launch>
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XXX_moveit_controller_manager.launch.xml

<launch>
 
  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
    if no argument is passed, moveit_simple_controller_manager will be set -->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
 
  <!-- loads ros_controllers to the param server -->
  <rosparam file="$(find bot_moveit_config)/config/controllers_gazebo.yaml"/>
</launch>
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XXX_moveit_config/config

controllers_gazebo.yaml

controller_manager_ns: controller_manager
controller_list:
  - name: bot/bot_joint_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
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2.gazebo部分

需要新建XXX_gazebo功能包，需要的依赖：gazebo_msgs gazebo_plugins gazebo_ros gazebo_ros_control

XXX_gazebo/launch:

XXX_world.launch

<launch>
 
  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
 
  <!-- We resume the logic in empty_world.launch -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>
 
  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find bot_description)/urdf/bot.xacro'" /> 
 
  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
	args="-urdf -model bot -param robot_description"/> 
 
</launch>
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XXX_gazebo_states.launch

<launch>
    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
    <rosparam file="$(find bot_gazebo)/config/bot_gazebo_joint_states.yaml" command="load"/>
 
    <node name="joint_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/bot" args="joint_state_controller" />
 
    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
        <remap from="/joint_states" to="/bot/joint_states" />
    </node>
 
</launch>

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XXX_trajectory_controller.launch

<launch>
 
    <rosparam file="$(find bot_gazebo)/config/trajectory_control.yaml" command="load"/>
 
    <node name="robot_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/bot" args="bot_joint_controller bot_gripper_controller "/>
 
</launch>

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robot_bringup_moveit.launch

<launch>
  
    <!-- Launch Gazebo  -->
    <include file="$(find bot_gazebo)/launch/bot_world.launch" />
 
    <!-- ros_control arm launch file -->
    <include file="$(find bot_gazebo)/launch/bot_gazebo_states.launch" />   
 
    <!-- ros_control trajectory control dof arm launch file -->
    <include file="$(find bot_gazebo)/launch/bot_trajectory_controller.launch" />
 
    <!-- moveit launch file -->
    <include file="$(find bot_moveit_config)/launch/moveit_planning_execution.launch" />
 
</launch>

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XXX_gazebo/config:

trajectory_control.yaml

bot:
  bot_joint_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
 
    gains:
      joint1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint2:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint3:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint4:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint5:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

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XXX_gazebo_joint_states.yaml

bot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

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至此配置全部完成，终端运行 roslaunch XXX_gazebo robot_bringup_moveit.launch 测试

四、常见问题

1. 启动gazebo一些模型爆出Failed to load joint1_position_controller 错误，可以尝试安装control以及controllers

sudo apt-get update
sudo apt-get install ros-noetic-ros-control
sudo apt-get install ros-noetic-ros-controllers
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2. [ERROR] : Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ]

   [ERROR] : Known controllers and their joints:
   
   解决方法：工作空间/src/marm_moveit_config/launch/trajectory_execution.launch.xml
   将参数pass_all_args="true"删掉即可。

3. 其他问题（目前没有遇到）
   MOVEIT!控制GAZEBO仿真机械臂时遇到的一些问题

五、参考文章

以下两篇为主要参考
参考一ROS机械臂开发：MoveIt! + Gazebo仿真
参考二多指灵巧手MoveIt!与Gazebo联合仿真框架搭建