ROS2与Turtlebot3-ARM入门教程-键盘控制

文章说明

• 本教程主要介绍怎么使用键盘控制turtlebot3-arm

操作步骤

• [TurtleBot3 SBC] 启动机器人

$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

• [Remote PC] 启动舵机控制

$ ros2 launch turtlebot3_manipulation_moveit_config servo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-12-27-17-11-27-591300-TB3-V402-VM-11892
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [servo_node_main-1]: process started with pid [11893]
[servo_node_main-1] [WARN] [1735290687.829446866] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-1] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-1] to the Servo composable node in the launch file
[servo_node_main-1] [INFO] [1735290687.863886006] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0318492 seconds
[servo_node_main-1] [INFO] [1735290687.863931961] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[servo_node_main-1] [WARN] [1735290687.927965044] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-1] [INFO] [1735290688.155351102] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-1] [INFO] [1735290688.160451567] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-1] [INFO] [1735290688.160507351] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-1] [INFO] [1735290688.161705604] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-1] [INFO] [1735290688.161730139] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node_main-1] [INFO] [1735290688.162268398] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[servo_node_main-1] [INFO] [1735290688.163160781] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[servo_node_main-1] [WARN] [1735290688.163912978] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[servo_node_main-1] [ERROR] [1735290688.163960385] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node_main-1] [INFO] [1735290688.311145175] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'

• [Remote PC] 启动键盘控制

$ ros2 run turtlebot3_manipulation_teleop turtlebot3_manipulation_teleop
[WARN] [1735290729.010320653] [servo_keyboard_input]: WAIT TO CONNECT SERVO START SERVER
[WARN] [1735290730.010700211] [servo_keyboard_input]: WAIT TO CONNECT SERVO START SERVER
[INFO] [1735290730.404760374] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO START SERVER
[INFO] [1735290730.404871226] [servo_keyboard_input]: SUCCESS TO CONNECT SERVO STOP SERVER
[INFO] [1735290730.404940526] [servo_keyboard_input]: call 'moveit_servo' start srv.
[INFO] [1735290730.405839495] [servo_keyboard_input]: SUCCESS to start 'moveit_servo'
Reading from keyboard
---------------------------
Joint Control Keys:
  1/q: Joint1 +/-
  2/w: Joint2 +/-
  3/e: Joint3 +/-
  4/r: Joint4 +/-
Use o|p to open/close the gripper.

Command Control Keys:
  i: Move up
  k: Move down
  l: Move right
  j: Move left
  space bar: Move stop
---------------------------
'ESC' to quit.

• 根据终端输出的提示，按下相关键位控制机器人

演示视频