鱼香社区

    • 登录
    • 版块
    • 最新
    • 未解决
    • 已解决
    • 群组
    1. 主页
    2. 1113618930

    重要提示

    社区建设靠大家,欢迎参与社区建设赞助计划
    提问前必看的发帖注意事项—— 提问的智慧
    社区使用指南—如何添加标签修改密码
    • 资料
    • 关注 0
    • 粉丝 0
    • 主题 2
    • 帖子 22
    • 最佳 0
    • 有争议的 0
    • 群组 0

    1113618930

    @1113618930

    0
    声望
    1
    资料浏览
    22
    帖子
    0
    粉丝
    0
    关注
    注册时间 最后登录

    1113618930 取消关注 关注

    1113618930 发布的最新帖子

    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @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]
      
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930
      又配置了一遍,终端又出现了错误:同样rviz与gazebo可以显示,但是不能同步运动:

      以下是先启动rviz 的错误:

      process[joint_state_publisher-1]: started with pid [20440]
      process[robot_state_publisher-2]: started with pid [20441]
      process[move_group-3]: started with pid [20442]
      [ WARN] [1679125159.198086958]: 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.
      process[rviz_xp_T58_D_20414_8227358618695934036-4]: started with pid [20448]
      [ INFO] [1679125159.241425579]: Loading robot model 'arm_z'...
      [ INFO] [1679125159.243132222]: No root/virtual joint specified in SRDF. Assuming fixed joint
      [ INFO] [1679125159.326448510]: rviz version 1.13.29
      [ INFO] [1679125159.326523079]: compiled against Qt version 5.9.5
      [ INFO] [1679125159.326555090]: compiled against OGRE version 1.9.0 (Ghadamon)
      [ INFO] [1679125159.335935604]: Forcing OpenGl version 0.
      [ WARN] [1679125159.515196390]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
      Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
      [ WARN] [1679125159.526468378]: 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] [1679125159.681970, 0.000000]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
      [ INFO] [1679125159.842614301]: Stereo is NOT SUPPORTED
      [ INFO] [1679125159.842681098]: OpenGL device: NVIDIA GeForce GTX 1050/PCIe/SSE2
      [ INFO] [1679125159.842705001]: OpenGl version: 4.6 (GLSL 4.6).
      [ERROR] [1679125160.246825764]: Exception while loading Hybrid: According to the loaded plugin descriptions the class Hybrid with base class type collision_detection::CollisionPlugin does not exist. Declared types are  Bullet FCL
      [ INFO] [1679125160.246912007]: Using collision detector:FCL
      [ INFO] [1679125160.251768806]: Publishing maintained planning scene on 'monitored_planning_scene'
      [ INFO] [1679125160.253526995]: Listening to 'joint_states' for joint states
      [ INFO] [1679125160.256771120]: Listening to '/attached_collision_object' for attached collision objects
      [ INFO] [1679125160.256815314]: Starting planning scene monitor
      [ INFO] [1679125160.258797499]: Listening to '/planning_scene'
      
      
      
      
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 用moveit配置完之后,直接运行的denmo和gazebo,终端就提示这个命令,并且rviz与gazebo不能同时动。

      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 终端命令

      [ WARN] [1679122051.973383535]: Shutdown request received.
      [ WARN] [1679122051.975958574]: 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 [17540]
      [ WARN] [1679122052.288484066]: Shutdown request received.
      [ WARN] [1679122052.291101496]: 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 [17556]
      [ WARN] [1679122052.600755343]: Shutdown request received.
      [ WARN] [1679122052.603466136]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
      [WARN] [1679122052.704143, 139.932000]: 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 [17572]
      [ WARN] [1679122052.917311873]: Shutdown request received.
      [ WARN] [1679122052.920810009]: 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 [17598]
      
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930
      launch文件下ros_controllers.launch代码

      <?xml version="1.0"?>
      <launch>
      
        <!-- Load joint controller configurations from YAML file to parameter server -->
        <rosparam file="$(find arm_moveit_config)/config/ros_controllers.yaml" command="load"/>
      
        <!-- Load the controllers -->
        <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" args="arm_position_controller "/>
      
      </launch>
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 launch文件下move_group.launch代码

      <launch>
      
        <!-- GDB Debug Option -->
        <arg name="debug" default="false" />
        <arg unless="$(arg debug)" name="launch_prefix" value="" />
        <arg     if="$(arg debug)" name="launch_prefix"
                 value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
      
        <!-- Verbose Mode Option -->
        <arg name="info" default="$(arg debug)" />
        <arg unless="$(arg info)" name="command_args" value="" />
        <arg     if="$(arg info)" name="command_args" value="--debug" />
      
        <!-- move_group settings -->
        <arg name="pipeline" default="ompl" />
        <arg name="allow_trajectory_execution" default="true"/>
        <arg name="moveit_controller_manager" default="simple" />
        <arg name="fake_execution_type" default="interpolate"/>
        <arg name="max_safe_path_cost" default="1"/>
        <arg name="publish_monitored_planning_scene" default="true"/>
      
        <arg name="capabilities" default=""/>
        <arg name="disable_capabilities" default=""/>
        <!-- load these non-default MoveGroup capabilities (space seperated) -->
        <!--
        <arg name="capabilities" value="
                      a_package/AwsomeMotionPlanningCapability
                      another_package/GraspPlanningPipeline
                      " />
        -->
      
        <!-- inhibit these default MoveGroup capabilities (space seperated) -->
        <!--
        <arg name="disable_capabilities" value="
                      move_group/MoveGroupKinematicsService
                      move_group/ClearOctomapService
                      " />
        -->
      
        <arg name="load_robot_description" default="false" />
        <!-- load URDF, SRDF and joint_limits configuration -->
        <include file="$(dirname)/planning_context.launch">
          <arg name="load_robot_description" value="$(arg load_robot_description)" />
        </include>
      
        <!-- Planning Pipelines -->
        <group ns="move_group/planning_pipelines">
      
          <!-- OMPL -->
          <include file="$(dirname)/planning_pipeline.launch.xml">
            <arg name="pipeline" value="ompl" />
          </include>
      
          <!-- CHOMP -->
          <include file="$(dirname)/planning_pipeline.launch.xml">
            <arg name="pipeline" value="chomp" />
          </include>
      
          <!-- Pilz Industrial Motion -->
          <include file="$(dirname)/planning_pipeline.launch.xml">
            <arg name="pipeline" value="pilz_industrial_motion_planner" />
          </include>
      
          <!-- Support custom planning pipeline -->
          <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
                   file="$(dirname)/planning_pipeline.launch.xml">
            <arg name="pipeline" value="$(arg pipeline)" />
          </include>
        </group>
      
        <!-- Trajectory Execution Functionality -->
        <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
          <arg name="moveit_manage_controllers" value="true" />
          <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
          <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
        </include>
      
        <!-- Sensors Functionality -->
        <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
          <arg name="moveit_sensor_manager" value="arm_z" />
        </include>
      
        <!-- Start the actual move_group node/action server -->
        <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
          <!-- Set the display variable, in case OpenGL code is used internally -->
          <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
      
          <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
          <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
          <param name="default_planning_pipeline" value="$(arg pipeline)" />
          <param name="capabilities" value="$(arg capabilities)" />
          <param name="disable_capabilities" value="$(arg disable_capabilities)" />
      
          <!-- do not copy dynamics information from /joint_states to internal robot monitoring
               default to false, because almost nothing in move_group relies on this information -->
          <param name="monitor_dynamics" value="false" />
      
          <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
          <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
          <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
          <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
          <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
        </node>
      
      </launch>
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 7、launch文件下gazebo.launch代码

      <?xml version="1.0"?>
      <launch>
        <!-- Gazebo options -->
        <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
        <arg name="paused" default="false" doc="Start Gazebo paused"/>
        <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
        <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
        <arg name="initial_joint_positions" default=" -J joint1 0 -J joint2 0 -J joint3 0 -J joint4 0 -J joint5 0 -J joint6 0 -J joint7 0" doc="Initial joint configuration of the robot"/>
      
        <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
        <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
          <arg name="paused" value="true"/>
        </include>
      
        <!-- Set the robot urdf on the parameter server -->
        <param name="robot_description" command="xacro  '$(find arm_z)/urdf/arm_z.xacro'" />
      
        <!-- Unpause the simulation after loading the robot model -->
        <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
      
        <!-- Spawn the robot in Gazebo -->
        <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
          respawn="false" output="screen" />
      
        <!-- Load the controller parameters onto the parameter server -->
        <rosparam file="$(find arm_moveit_config)/config/gazebo_controllers.yaml" />
        <include file="$(dirname)/ros_controllers.launch"/>
      
        <!-- Spawn the Gazebo ROS controllers -->
        <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
      
        <!-- Given the published joint states, publish tf for the robot links -->
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
      </launch>
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 6、以下是arm_src/arm_moveit_config/launch文件下的代码
      demo.launch代码

      <launch>
      
        <!-- specify the planning pipeline -->
        <arg name="pipeline" default="ompl" />
      
        <!-- By default, we do not start a database (it can be large) -->
        <arg name="db" default="false" />
        <!-- Allow user to specify database location -->
        <arg name="db_path" default="$(find arm_moveit_config)/default_warehouse_mongo_db" />
      
        <!-- By default, we are not in debug mode -->
        <arg name="debug" default="false" />
      
        <!-- By default, we will load or override the robot_description -->
        <arg name="load_robot_description" default="true"/>
      
        <!-- Choose controller manager: fake, simple, or ros_control -->
        <arg name="moveit_controller_manager" default="fake" />
        <!-- Set execution mode for fake execution controllers -->
        <arg name="fake_execution_type" default="interpolate" />
      
        <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
        <arg name="use_gui" default="false" />
        <arg name="use_rviz" default="true" />
      
        <!-- If needed, broadcast static tf for robot root -->
      
        <group if="$(eval arg('moveit_controller_manager') == 'fake')">
      
          <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
               MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
      
          <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
            <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
          </node>
      
      
          <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
               This corresponds to moving around the real robot without the use of MoveIt. -->
          <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
            <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
          </node>
      
      
          <!-- Given the published joint states, publish tf for the robot links -->
      
          <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
        </group>
      
        <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
        <include file="$(dirname)/move_group.launch">
          <arg name="allow_trajectory_execution" value="true"/>
          <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
          <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
          <arg name="info" value="true"/>
          <arg name="debug" value="$(arg debug)"/>
          <arg name="pipeline" value="$(arg pipeline)"/>
          <arg name="load_robot_description" value="$(arg load_robot_description)"/>
        </include>
      
        <!-- Run Rviz and load the default config to see the state of the move_group node -->
        <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
          <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
          <arg name="debug" value="$(arg debug)"/>
        </include>
      
        <!-- If database loading was enabled, start mongodb as well -->
        <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
          <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
        </include>
      
      </launch>
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 5、fake_controllers.yaml代码

      controller_list:
        - name: fake_arm_controller
          type: $(arg fake_execution_type)
          joints:
            - joint1
            - joint2
            - joint3
            - joint4
            - joint5
            - joint6
            - joint7
      initial:  # Define initial robot poses per group
        - group: arm
          pose: home
      
      发布在 机械臂运动规划
      1113618930
      1113618930
    • RE: moveit配置了自己的机器人后,运行demo和gazebo后,只有rviz中机器人可以动,gazebo中不能动。

      @1113618930 4、arm/src/arm_moveit_config/config下的simple_moveit_controllers.yaml代码

      controller_list:
        - name: arm_position_controller
          action_ns: follow_joint_trajectory
          type: FollowJointTrajectory
          default: True
          joints:
            - joint1
            - joint2
            - joint3
            - joint4
            - joint5
            - joint6
            - joint7
      
      发布在 机械臂运动规划
      1113618930
      1113618930