ROS2与Interbotix系列机械臂教程-机械臂测试

文章说明

本教程主要介绍如何在ros2环境下进行机械臂测试

操作步骤

假设正在现实中使用WidowX-250机械臂，运行该命令

$ ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s

启动程序后，机械臂处于锁定状态，且当前姿态会实时显示在RViz中

请输入图片描述

假设正在仿真中使用WidowX-250机械臂，运行该命令

$ ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s use_sim:=true

要在运行时进一步自定义此启动文件，请参阅下表，或运行以下命令

$ ros2 launch interbotix_xsarm_control xsarm_control.launch.py --show-args

具体launch参数表

Argument	Description	Default	Choices
robot_model	model type of the Interbotix Arm such as `wx200` or `rx150`.		`px100`, `px150`, `rx150`, `rx200`, `wx200`, `wx250`, `wx250s`, `vx250`, `vx300`, `vx300s`, `mobile_px100`, `mobile_wx200`, `mobile_wx250s`
robot_name	name of the robot (typically equal to `robot_model`, but could be anything).	LaunchConfig(`robot_model`)
use_rviz	launches RViz if set to `true`.	`true`	`true`, `false`
motor_configs	the file path to the ‘motor config’ YAML file.	LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_control`) + ‘config’ + LaunchConfig(`robot_model`)’) + ‘.yaml’
mode_configs	the file path to the ‘mode config’ YAML file.	LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_control`) + ‘config’ + ‘modes.yaml’’)
load_configs	a boolean that specifies whether or not the initial register values (under the ‘motors’ heading) in a Motor Config file should be written to the motors; as the values being written are stored in each motor’s EEPROM (which means the values are retained even after a power cycle), this can be set to `false` after the first time using the robot. Setting to `false` also shortens the node startup time by a few seconds and preserves the life of the EEPROM.	`true`	`true`, `false`
use_sim	if `true`, the DYNAMIXEL simulator node is run; use RViz to visualize the robot’s motion; if `false`, the real DYNAMIXEL driver node is run.	`false`	`true`, `false`
use_sim_time	tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock; this value is automatically set to `true` if using Gazebo hardware.	`false`	`true`, `false`
base_link_frame	name of the ‘root’ link on the arm; typically `base_link`, but can be changed if attaching the arm to a mobile base that already has a `base_link` frame.	`base_link`
use_gripper	if `true`, the default gripper is included in the `robot_description` parameter; if `false`, it is left out; set to `false` if not using the default gripper.	`true`	`true`, `false`
show_ar_tag	if `true`, the AR tag mount is included in the `robot_description` parameter; if `false`, it is left out; set to `true` if using the AR tag mount in your project.	`false`	`true`, `false`
show_gripper_bar	if `true`, the gripper_bar link is included in the `robot_description` parameter; if `false`, the gripper_bar and finger links are not loaded. Set to `false` if you have a custom gripper attachment.	`true`	`true`, `false`
show_gripper_fingers	if true, the gripper fingers are included in the `robot_description` parameter; if `false`, the gripper finger links are not loaded. Set to `false` if you have custom gripper fingers.	`true`	`true`, `false`
use_world_frame	set this to `true` if you would like to load a ‘world’ frame to the `robot_description` parameter which is located exactly at the ‘base_link’ frame of the robot; if using multiple robots or if you would like to attach the ‘base_link’ frame of the robot to a different frame, set this to `false`.	`true`	`true`, `false`
external_urdf_loc	the file path to the custom urdf.xacro file that you would like to include in the Interbotix robot’s urdf.xacro file.	‘’
hardware_type	configures the `robot_description` parameter to use the actual hardware, fake hardware, or hardware simulated in Gazebo.	`actual`	`actual`, `fake`, `gz_classic`
robot_description	URDF of the robot; this is typically generated by the xacro command.	Command(FindExec(`xacro`) + ‘ ‘ + LocalVar(‘FindPackageShare(pkg= `interbotix_xsarm_descriptions`) + ‘urdf’ + LaunchConfig(`robot_model`)’) + ‘.urdf.xacro ‘ + ‘robot_name:=’ + LaunchConfig(`robot_name`) + ‘ ‘ + ‘base_link_frame:=’ + LaunchConfig(`base_link_frame`) + ‘ ‘ + ‘use_gripper:=’ + LaunchConfig(`use_gripper`) + ‘ ‘ + ‘show_ar_tag:=’ + LaunchConfig(`show_ar_tag`) + ‘ ‘ + ‘show_gripper_bar:=’ + LaunchConfig(`show_gripper_bar`) + ‘ ‘ + ‘show_gripper_fingers:=’ + LaunchConfig(`show_gripper_fingers`) + ‘ ‘ + ‘use_world_frame:=’ + LaunchConfig(`use_world_frame`) + ‘ ‘ + ‘external_urdf_loc:=’ + LaunchConfig(`external_urdf_loc`) + ‘ ‘ + ‘hardware_type:=’ + LaunchConfig(`hardware_type`) + ‘ ‘)

获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号

标签: none