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https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add moveit demo script.
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Zachary
parent
9031087946
commit
c66380e66b
3 changed files with 126 additions and 93 deletions
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@ -13,6 +13,7 @@ catkin_package()
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## in contrast to setup.py, you can choose the destination
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catkin_install_python(PROGRAMS
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scripts/sync_plan.py
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scripts/path_planning_and_obstacle_avoidance_demo.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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@ -0,0 +1,125 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import rospy, roslib, sys
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import moveit_commander
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from moveit_msgs.msg import RobotTrajectory
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from trajectory_msgs.msg import JointTrajectoryPoint
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from geometry_msgs.msg import PoseStamped, Pose
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from tf.transformations import euler_from_quaternion, quaternion_from_euler
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class MoveItPlanningDemo:
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def __init__(self):
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# 初始化move_group的API
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moveit_commander.roscpp_initialize(sys.argv)
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# 初始化ROS节点
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rospy.init_node("moveit_ik_demo")
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# 初始化场景对象，用来监听外部环境的变化
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self.scene = moveit_commander.PlanningSceneInterface()
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rospy.sleep(1)
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# 初始化需要使用move group控制的机械臂中的self.arm group
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self.arm = moveit_commander.MoveGroupCommander("arm_group")
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# 获取终端link的名称
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self.end_effector_link = self.arm.get_end_effector_link()
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# 设置目标位置所使用的参考坐标系
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self.reference_frame = "joint1"
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self.arm.set_pose_reference_frame(self.reference_frame)
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# 当运动规划失败后，允许重新规划
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self.arm.allow_replanning(True)
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# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
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self.arm.set_goal_position_tolerance(0.01)
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self.arm.set_goal_orientation_tolerance(0.05)
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def moving(self):
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# # 控制机械臂先回到初始化位置
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self.arm.set_named_target("init_pose")
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self.arm.go()
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rospy.sleep(2)
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# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
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# 姿态使用四元数描述，基于base_link坐标系
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target_pose = PoseStamped()
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target_pose.header.frame_id = self.reference_frame
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target_pose.header.stamp = rospy.Time.now()
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target_pose.pose.position.x = 0.132
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target_pose.pose.position.y = -0.150
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target_pose.pose.position.z = 0.075
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target_pose.pose.orientation.x = 0.026
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target_pose.pose.orientation.y = 1.0
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target_pose.pose.orientation.z = 0.0
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target_pose.pose.orientation.w = 0.014
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# 设置机器臂当前的状态作为运动初始状态
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self.arm.set_start_state_to_current_state()
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# 设置机械臂终端运动的目标位姿
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self.arm.set_pose_target(target_pose, self.end_effector_link)
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# 规划运动路径
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traj = self.arm.plan()
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# 按照规划的运动路径控制机械臂运动
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self.arm.execute(traj)
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rospy.sleep(1)
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# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
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self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
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self.arm.go()
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rospy.sleep(1)
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self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
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self.arm.go()
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rospy.sleep(1)
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# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
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# self.arm.shift_pose_target(3, -1.57, end_effector_link)
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# self.arm.go()
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# rospy.sleep(1)
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def run(self):
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self.scene.remove_world_object("suit")
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# 没有障碍物运行一次
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self.moving()
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# 添加环境
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quat = quaternion_from_euler(3.1415, 0, -1.57)
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suit_post = PoseStamped()
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suit_post.header.frame_id = self.reference_frame
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suit_post.pose.position.x = 0.0
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suit_post.pose.position.y = 0.0
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suit_post.pose.position.z = -0.02
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suit_post.pose.orientation.x = quat[0]
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suit_post.pose.orientation.y = quat[1]
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suit_post.pose.orientation.z = quat[2]
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suit_post.pose.orientation.w = quat[3]
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suit_path = (
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roslib.packages.get_pkg_dir("mycobot_description")
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+ "/urdf/mycobot/suit_env.dae"
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)
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# need `pyassimp==3.3`
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self.scene.add_mesh("suit", suit_post, suit_path)
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rospy.sleep(2)
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# 有环境影响后在运行一次
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self.moving()
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# 关闭并退出moveit
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moveit_commander.roscpp_shutdown()
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moveit_commander.os._exit(0)
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if __name__ == "__main__":
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o = MoveItPlanningDemo()
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o.run()
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@ -1,93 +0,0 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import rospy, sys
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import moveit_commander
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from moveit_msgs.msg import RobotTrajectory
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from trajectory_msgs.msg import JointTrajectoryPoint
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from geometry_msgs.msg import PoseStamped, Pose
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from tf.transformations import euler_from_quaternion, quaternion_from_euler
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class MoveItIkDemo:
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def __init__(self):
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# 初始化move_group的API
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moveit_commander.roscpp_initialize(sys.argv)
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# 初始化ROS节点
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rospy.init_node("moveit_ik_demo")
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# 初始化需要使用move group控制的机械臂中的arm group
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arm = moveit_commander.MoveGroupCommander("mycobot_arm")
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# 获取终端link的名称
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end_effector_link = arm.get_end_effector_link()
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# 设置目标位置所使用的参考坐标系
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reference_frame = "joint1"
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arm.set_pose_reference_frame(reference_frame)
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# 当运动规划失败后，允许重新规划
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arm.allow_replanning(True)
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# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
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arm.set_goal_position_tolerance(0.01)
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arm.set_goal_orientation_tolerance(0.05)
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# # 控制机械臂先回到初始化位置
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arm.set_named_target("init_pose")
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arm.go()
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rospy.sleep(2)
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# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
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# 姿态使用四元数描述，基于base_link坐标系
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target_pose = PoseStamped()
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target_pose.header.frame_id = reference_frame
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target_pose.header.stamp = rospy.Time.now()
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target_pose.pose.position.x = 0.132
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target_pose.pose.position.y = 0.150
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target_pose.pose.position.z = 0.075
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target_pose.pose.orientation.x = 0.026
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target_pose.pose.orientation.y = 1.0
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target_pose.pose.orientation.z = 0.0
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target_pose.pose.orientation.w = 0.014
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# 设置机器臂当前的状态作为运动初始状态
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arm.set_start_state_to_current_state()
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# 设置机械臂终端运动的目标位姿
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arm.set_pose_target(target_pose, end_effector_link)
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# 规划运动路径
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traj = arm.plan()
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# 按照规划的运动路径控制机械臂运动
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arm.execute(traj)
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rospy.sleep(1)
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# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
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arm.shift_pose_target(1, 0.12, end_effector_link)
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arm.go()
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rospy.sleep(1)
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arm.shift_pose_target(1, 0.1, end_effector_link)
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arm.go()
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rospy.sleep(1)
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# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
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# arm.shift_pose_target(3, -1.57, end_effector_link)
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# arm.go()
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# rospy.sleep(1)
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# 控制机械臂回到初始化位置
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# arm.set_named_target("home")
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# arm.go()
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# 关闭并退出moveit
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moveit_commander.roscpp_shutdown()
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moveit_commander.os._exit(0)
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if __name__ == "__main__":
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MoveItIkDemo()
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