ROS2与Interbotix系列机械臂教程-记录与复现轨迹

文章说明

本教程主要介绍如何在ros2环境下运行记录与复现轨迹例程

操作步骤

启动机械臂，假设当前使用的是wx250s机械臂

$ ros2 launch interbotix_xsarm_puppet xsarm_puppet_single.launch.py robot_model:=wx250s record_or_playback:=record

节点启动完成后，手动操纵臂和夹具，完成所需的动作
完成后，将机器人返回到其初始起始位置并Ctrl+C节点，以便 rosbag 停止录制
默认情况下，bag文件将保存在bag目录中
执行回放程序

$ ros2 launch interbotix_xsarm_puppet xsarm_puppet_single.launch.py robot_model:=wx250s record_or_playback:=playback

如果您指定了自定义包文件名，请确保在上述命令中也包含该名称。当包文件播放完毕后，您可以通过导航到包文件所在的目录并在终端中键入以下内容来重新启动它：

$ ros2 bag play </path/to/bag>

机器人现在应该重复这些动作。完成后，按Ctrl+C停止所有节点
要查看xsarm_puppet_single.launch.py文件的其他命令行参数，请参阅下表

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`, `aloha_wx250s`, `aloha_vx300s`
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`
record_or_playback	‘record’ to record joint commands while physically manipulating the arm to a bagfile or ‘playback’ to play-back joint commands from a bagfile to a torqued on arm.		`record`, `playback`
bag_name	Desired ROS bag file name.	LaunchConfig(`robot_name`) + ‘_commands’
launch_driver	`true` if xsarm_control should be launched - set to `false` if you would like to run your own version of this file separately.	`true`	`true`, `false`
xs_driver_logging_level	set the logging level of the X-Series Driver.	`INFO`	`DEBUG`, `INFO`, `WARN`, `ERROR`, `FATAL`
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`
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`; 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`; 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`; 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`; 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` 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` 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`) + ‘ ‘)

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