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OpenManipulator机械臂入门教程-MoveIt!控制

OpenManipulator机械臂入门教程-MoveIt!控制

说明:

  • 通过MoveIt!来控制OpenManipulator机械臂

操作步骤

  • [PC] 启动roscore
$ roscore
  • [PC] 启动机械臂和MoveIt!
$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_moveit:=true

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  • Service Server List : A list of MoveIt!-related service server that open_manipulator_controller has.

    • /open_manipulator/moveit/get_joint_position (open_manipulator_msgs/GetJointPosition)
      The user can use this service to receives a joint position which is calculated by move_group.

    • /open_manipulator/moveit/get_kinematics_pose (open_manipulator_msgs/GetKinematicsPose)
      The user can use this service to receives a kinematics pose which is calculated by move_group.

    • /open_manipulator/moveit/set_joint_position (open_manipulator_msgs/SetJointPosition)
      The user can use this service to create a trajectory in the joint space by move_group. The user inputs the angle of the target joint and the total time of the trajectory.

    • /open_manipulator/moveit/set_kinematics_pose (open_manipulator_msgs/SetKinematicsPose)
      The user can use this service to create a trajectory in the task space by move_group. The user inputs the kinematics pose(orientation only) of the OpenManipulator end-effector(tool) in the task space and the total time of the trajectory.

TIP: If you would like to use inverse kinematics with position_only, check open_manipulator_moveit -> config -> kinematics.yaml and set position_only_ik parameter to True.

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标签: openmanipulator 机械臂入门教程