update mycobot600 moveit config

mycobot_pro/mycobot_600_moveit/config/firefighter.srdf

@@ -27,7 +27,10 @@
         <joint name="joint6output_to_joint6" value="0" />
     </group_state>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base" />
+    
+    <!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
+    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
+
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="base" link2="link1" reason="Adjacent" />
     <disable_collisions link1="base" link2="link2" reason="Never" />

mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml

@@ -121,7 +121,7 @@ planner_configs:
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
 arm_group:
-  default_planner_config: RRT
+  default_planner_config: None
   planner_configs:
     - SBL
     - EST

mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml

@@ -24,8 +24,3 @@ joint_state_controller:
   publish_rate: 50
 controller_list:
   []
-  # - name: arm_controller
-  #  action_ns: follow_joint_trajectory
-  #  type: FollowJointTrajectory
-  #  allowed_execution_duration_scaling: 1.2
-  #  allowed_goal_duration_margin: 0.5

mycobot_pro/mycobot_600_moveit/launch/demo.launch

@@ -1,11 +1,14 @@
 <launch>
 
   <!-- By default, we do not start a database (it can be large) -->
+  <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
+  <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
+  <!-- 默认情况下，我们不处于调试模式 -->
   <arg name="debug" default="false" />
 
   <!--
@@ -19,6 +22,7 @@
   <arg name="use_gui" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
   <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
@@ -27,15 +31,18 @@
   
 
   <!-- We do not have a robot connected, so publish fake joint states -->
+  <!-- 我们没有连接机器人，所以发布假关节状态 -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
     <param name="use_gui" value="$(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 -->
+  <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
   <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
   <include file="$(find mycobot_600_moveit)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
@@ -44,12 +51,14 @@
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
   <include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
     <arg name="config" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
+  <!-- 如果启用了数据库加载，也启动 mongodb -->
   <include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>

mycobot_pro/mycobot_600_moveit/launch/gazebo.launch

@@ -2,7 +2,7 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">

mycobot_pro/mycobot_600_moveit/launch/moveit.rviz

@@ -5,9 +5,13 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Grid1
+        - /Status1
         - /MotionPlanning1
-      Splitter Ratio: 0.742560029
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.44475922
     Tree Height: 195
   - Class: rviz/Help
     Name: Help
@@ -107,7 +111,7 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-        Loop Animation: true
+        Loop Animation: false
         Robot Alpha: 0.5
         Robot Color: 150; 50; 150
         Show Robot Collision: false
@@ -131,7 +135,7 @@ Visualization Manager:
         Joint Violation Color: 255; 0; 255
         Planning Group: arm_group
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -189,7 +193,7 @@ Visualization Manager:
             Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
-        Show Robot Visual: true
+        Show Robot Visual: false
       Value: true
       Velocity_Scaling_Factor: 1
   Enabled: true
@@ -208,7 +212,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 2.99650002
+      Distance: 1.39158678
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -223,10 +227,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: -0.340202928
+      Pitch: -0.040203426
-      Target Frame: base
+      Target Frame: joint1
       Value: XYOrbit (rviz)
-      Yaw: 3.98176312
+      Yaw: 6.21176481
     Saved: ~
 Window Geometry:
   Displays:
@@ -240,7 +244,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1828

mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch

@@ -12,6 +12,7 @@
 
   <!--
   By default, hide joint_state_publisher's GUI
+
   MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
   The latter one maintains and publishes the current joint configuration of the simulated robot.
   It also provides a GUI to move the simulated robot around "manually".