@1503153906 可以，但是不能直接用ROS2的编译方式编译

这个用Moviet2控制真是机械臂该改哪些地方，怎么改阿

我也想知道，老哥弄出来了踢我一下

@小小明 chatgpt 答案
在类中使用MoveGroupInterface需要对参数进行适当的传递。可以使用类成员变量 shared_from_this() 函数获取当前对象的 std::shared_ptr，然后将其作为参数传递给 MoveGroupInterface 构造函数。以下是修改后的代码示例：

class TestMoveGroupInterface : public rclcpp::Node { public: TestMoveGroupInterface() : Node( "hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) { // Create the MoveIt MoveGroup Interface move_interface_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>( shared_from_this(), "panda_arm"); } private: std::shared_ptr<moveit::planning_interface::MoveGroupInterface> move_interface_; };

在构造函数中，使用 shared_from_this() 函数获取当前对象的 std::shared_ptr，然后通过 std::make_shared 创建 move_interface_ 对象。这样就能正确地传递当前节点对象的指针给 MoveGroupInterface 构造函数，以完成初始化。

@2990853802 请问你这个问题解决了吗

@1113618930
同时启动rviz与gazebo，终端的警告：

You can start planning now! [ WARN] [1679125213.502411483]: Shutdown request received. [ WARN] [1679125213.502455394]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [20888] [ WARN] [1679125213.747132877]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125214.017575265]: Shutdown request received. [ WARN] [1679125214.017621904]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21030] [ WARN] [1679125214.255693246]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125214.525132338]: Shutdown request received. [ WARN] [1679125214.525167051]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [WARN] [1679125214.632244, 0.000000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details. [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21054] [ WARN] [1679125214.753356317]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125215.033524088]: Shutdown request received. [ WARN] [1679125215.033575148]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21128] [ WARN] [1679125215.269981472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125215.660710581]: Shutdown request received. [ WARN] [1679125215.660778343]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21162] [ WARN] [1679125215.874257088]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125216.169900665]: Shutdown request received. [ WARN] [1679125216.169957554]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21181] [ WARN] [1679125216.379792363]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125216.677411048]: Shutdown request received. [ WARN] [1679125216.677442706]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21202] [ WARN] [1679125216.892892923]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125217.184628360]: Shutdown request received. [ WARN] [1679125217.184662972]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21220] [ WARN] [1679125217.411397382]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125217.691337359, 0.870000000]: Shutdown request received. [ WARN] [1679125217.691380020, 0.870000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21238] [ WARN] [1679125217.906539940]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125218.198077086, 1.375000000]: Shutdown request received. [ WARN] [1679125218.198118254, 1.375000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21257] [ WARN] [1679125218.415009234]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125218.704655363]: Shutdown request received. [ WARN] [1679125218.704693599, 1.881000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21275] [ WARN] [1679125218.920581471]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125219.211322184, 2.386000000]: Shutdown request received. [ WARN] [1679125219.211363367, 2.386000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21293] [ WARN] [1679125219.425836472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1679125219.825154504, 2.985000000]: Shutdown request received. [ WARN] [1679125219.825194354, 2.985000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name] Property::loadValue() TODO: error handling - unexpected QVariant type 0. Property::loadValue() TODO: error handling - unexpected QVariant type 0. [ INFO] [1679125219.951226849, 3.111000000]: Loading robot model 'arm_z'... [ INFO] [1679125219.951290314, 3.111000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [robot_state_publisher-2] process has finished cleanly log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log [robot_state_publisher-2] restarting process process[robot_state_publisher-2]: started with pid [21314]

@1113618930 [ WARN] [1679115440.455739215, 770.246000000]: Shutdown request received.
[ WARN] [1679115440.458231438, 770.248000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[WARN] [1679115440.666237, 770.446000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/55428a7c-c539-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21011]

@Gene 那可以把末端一部分在规划中忽略掉，目前能想到比较好的办法就是这个了

@小鱼 官方的教程连接如下
https://ros-planning.github.io/moveit_tutorials/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.html

在文中描述使用的是
“This package uses moveit_msgs::MotionPlanRequest and moveit_msgs::MotionPlanResponse as input and output for motion planning.”
意思是使用moveit_msgs::MotionPlanReques作为输入，但是找不到对应的函数来接受这个消息类型，或者是对应的Server和Action也未指明。

文中给出了一个python的代码示例，但是想使用C++来实现对这个运动规划库的调用

@LittleMING 没太理解，ros2的配置助手是ros2版本的吧

https://blog.csdn.net/qq_27865227/article/details/126860096