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Kinova_MOVO机器人基本操作及机械臂倒水demo实现

Kinova_MOVO机器人基本操作及机械臂倒水demo实现

  • 分类:技术博客
  • 发布时间:2020-06-21 00:00:00
  • 访问量:0
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Kinova MOVO官网

Kinova参数页

 

1、MOVO安装教程

翻译自movo-github-wiki

MOVO开发硬件需求

官方只支持Ubuntu 14.04 Trusty, x64 platform (core i5, core i7), 8GB RAM。

软件安装

您需要安装几个开发包才能在MOVO上进行开发。 一些包装属于Kinova外部开发包,其他的是Kinova专用开发包。 如果您在安装Kinova开发包时遇到任何障碍,请在此处报告问题。 对于任何专门针对外部库的问题,这些库的支持团队可能是获得修复的最佳选择。 但是,我们很乐意回答您的任何问题,并提供有关您使用MOVO开发的任何问题的帮助。 本节将指导您完成安装过程。

-有两种安装的方式:自动/手动

自动安装脚本使用方式:创建工作区并克隆kinova-movo库后,运行交互式bash脚本* setup_remote_pc *以自动执行安装。推荐采用自动方式。

手动安装方式具体见此处。

连接到MOVO平台

通过无线或有限两种方式连接到MOVO平台。

无线wifi(wifi名: MoVoWifi 密码: Welcome00)

通过SSH登陆到MOVO,ssh movo@10.66.171.1,登陆密码Welcome00。

若要将手柄连接到远程开发者电脑上使用,打开终端进行以下操作:

cd ~/movo_ws

sws # alias sws='source ./devel/setup.bash' defined in .bashrc

roslaunch movo_remote_teleop movo_remote_teleop.launch

若要将手柄插在MOVO上使用,在远程开发者电脑上SSH登陆到MOVO后,执行以下操作:

cd ~/movo_ws

sws # alias sws='source ./devel/setup.bash' defined in .bashrc

roslaunch movo_remote_teleop movo_remote_teleop.launch

2、MOVO机器人的基本使用

官方提供了以下功能:

建立远程开发者电脑与MOVO的连接

检测远程连接状态

使用真实机器人重新配置参数

查找Kinect序列号

为6自由度机械臂配置MOVO

-更新MOVO代码

-诊断MOVO启动问题

样例DEMO

使用真实机器人建图

使用真实机器人在rviz中导航地图

使用直接操作模式控制真实机器人

使用辅助操作模式控制真实机器人

使用仿真机器人建图

使用仿真机器人定位

3、制作倒水DEMO

基于Moveit对机械臂进行规划,具体学习可以参照此处:

通过c++接口调用Moveit进行编程

ros::actionlib动作服务器(action server)在动作客户端(action client)中的调用

ROS教程下载

以下为主程序

// movo_moveit_uoperbody.cpp

#include <moveit/move_group_interface/move_group.h>

#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/DisplayRobotState.h> 

#include <moveit_msgs/DisplayTrajectory.h> 

#include <moveit_msgs/AttachedCollisionObject.h> 

#include <moveit_msgs/CollisionObject.h> 

#include <control_msgs/GripperCommandActionGoal.h>

//grasp

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

#include <control_msgs/GripperCommandAction.h>

#include <control_msgs/GripperCommandGoal.h>

int main(int argc, char **argv)

{

  ros::init(argc, argv, "movo_moveit");

  ros::NodeHandle node_handle; 

  ros::AsyncSpinner spinner(1);

  spinner.start();

//action grasp

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acr("/movo/right_gripper_controller/gripper_cmd", true);

ROS_INFO("Waiting for the gripper action server");

acr.waitForServer(ros::Duration(3));

ROS_INFO("Connected to move base server");

control_msgs::GripperCommandGoal grigoal_right;

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acl("/movo/left_gripper_controller/gripper_cmd", true);

// Wait 60 seconds for the action server to become available

ROS_INFO("Waiting for the gripper action server");

acl.waitForServer(ros::Duration(3));

ROS_INFO("Connected to move base server");

control_msgs::GripperCommandGoal grigoal_left;

  moveit::planning_interface::MoveGroup group("upper_body");

  moveit::planning_interface::MoveGroup l_group("left_arm");

  moveit::planning_interface::MoveGroup r_group("right_arm");

  group.setNamedTarget("homed_2")

  moveit::planning_interface::MoveGroup::Plan upperbody_plan;

  bool success_upper = group.plan(upperbody_plan);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper)

      group.execute(upperbody_plan); 

  group.setNamedTarget("plan_grasp");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1;

  bool success_upper_1 = group.plan(upperbody_plan_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1)

    {

      group.execute(upperbody_plan_1);

    }

//opengrasp

grigoal_right.command.position = 0.16

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

grigoal_left.command.position = 0.16;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  sleep(3);

  //youbi_1_2_3

  r_group.setNamedTarget("right_grasp1");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1;

  bool success_right_grasp_1 = r_group.plan(right_grasp_plan_1);

  ROS_INFO("Visualizing plan1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_1);

    }

  r_group.setNamedTarget("right_grasp2");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2;

  bool success_right_grasp_2 = r_group.plan(right_grasp_plan_2);

  ROS_INFO("Visualizing plan2  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_2);

    }  

//closegrasp_right

grigoal_right.command.position = 0.03;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  r_group.setNamedTarget("right_grasp3");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3;

  bool success_right_grasp_3 = r_group.plan(right_grasp_plan_3);

  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_3);

    }

//zuobi1-2-3

  l_group.setNamedTarget("left_grasp1");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1;

  bool success_left_grasp_1 = l_group.plan(left_grasp_plan_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");  

  if(success_left_grasp_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_1);

    }

  l_group.setNamedTarget("left_grasp2");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2;

  bool success_left_grasp_2 = l_group.plan(left_grasp_plan_2);

  ROS_INFO("Visualizing plan2_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_2);

    }  

//closegrasp_left

grigoal_left.command.position = 0.03;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  l_group.setNamedTarget("left_grasp3");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_3;

  bool success_left_grasp_3 = l_group.plan(left_grasp_plan_3);

  ROS_INFO("Visualizing plan3_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_3)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_3);

    }  

  sleep(1);

//youbi-4

  r_group.setNamedTarget("right_grasp4");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_4;

  bool success_right_grasp_4 = r_group.plan(right_grasp_plan_4);

  ROS_INFO("Visualizing plan4  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_4)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_4);

    }

  sleep(3);

//youbi-3

  r_group.setNamedTarget("right_grasp3");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3_1;

  bool success_right_grasp_3_1 = r_group.plan(right_grasp_plan_3_1);

  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_3_1);

    }

//youbi-2

  r_group.setNamedTarget("right_grasp2");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2_1;

  bool success_right_grasp_2_1 = r_group.plan(right_grasp_plan_2_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_2_1);

    }

//opengrasp-right

grigoal_right.command.position = 0.16;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//opengrasp

//youbi-1

  r_group.setNamedTarget("right_grasp1");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1_1;

  bool success_right_grasp_1_1 = r_group.plan(right_grasp_plan_1_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_1_1);

    }

//zoubi-2

  l_group.setNamedTarget("left_grasp2");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2_1;

  bool success_left_grasp_2_1 = l_group.plan(left_grasp_plan_2_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_2_1);

    }

  //opengrasp-left

grigoal_left.command.position = 0.16;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//zoubi-1

  l_group.setNamedTarget("left_grasp1");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1_1;

  bool success_left_grasp_1_1 = l_group.plan(left_grasp_plan_1_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_1_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_1_1);

    }  

//dual-2

 group.setNamedTarget("plan_grasp");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1_1;

  bool success_upper_1_1 = group.plan(upperbody_plan_1_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1_1)

    {      

      group.execute(upperbody_plan_1_1);

    }  

  sleep(4);

//closegripper

//closegrasp_right

grigoal_right.command.position = 0.03;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//closegrasp_left

grigoal_left.command.position = 0.03;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//dual-1

  group.setNamedTarget("homed_2");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0_1;

  bool success_upper_0_1 = group.plan(upperbody_plan_0_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0_1)

      group.execute(upperbody_plan_0_1);

  sleep(2);

//dual-0

  group.setNamedTarget("tucked");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0;

  bool success_upper_0 = group.plan(upperbody_plan_0);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0)

      group.execute(upperbody_plan_0);

   ros::shutdown();

  return 0;

}

其中,我们通过在moveit配置中预存了很多的位姿如:right_grasp1实现精准控制。

通过使用此语句设定目标并发送:r_group.setNamedTarget(“right_grasp1”);

位姿预存在/kinova-movo/movo_moveit_config/config/movo_kg2.srdf文件中。格式如下:

   <group_state name="plan_grasp" _cke_saved_name="plan_grasp" group="upper_body">

        <joint name="right_elbow_joint" _cke_saved_name="right_elbow_joint" value="2.28" />

        <joint name="right_shoulder_lift_joint" _cke_saved_name="right_shoulder_lift_joint" value="2.17" />

        <joint name="right_shoulder_pan_joint" _cke_saved_name="right_shoulder_pan_joint" value="-2.56" />

        <joint name="right_wrist_1_joint" _cke_saved_name="right_wrist_1_joint" value="-0.09" />

        <joint name="right_wrist_2_joint" _cke_saved_name="right_wrist_2_joint" value="0.15" />

        <joint name="right_wrist_3_joint" _cke_saved_name="right_wrist_3_joint" value="1.06" />

        <joint name="left_elbow_joint" _cke_saved_name="left_elbow_joint" value="-2.28" />

        <joint name="left_shoulder_lift_joint" _cke_saved_name="left_shoulder_lift_joint" value="-2.17" />

        <joint name="left_shoulder_pan_joint" _cke_saved_name="left_shoulder_pan_joint" value="2.56" />

        <joint name="left_wrist_1_joint" _cke_saved_name="left_wrist_1_joint" value="0.09" />

        <joint name="left_wrist_2_joint" _cke_saved_name="left_wrist_2_joint" value="-0.15" />

        <joint name="left_wrist_3_joint" _cke_saved_name="left_wrist_3_joint" value="2.06" />

        <joint name="linear_joint" _cke_saved_name="linear_joint" value="0.45" />

        <joint name="pan_joint" _cke_saved_name="pan_joint" value="0.0" /> 

        <joint name="tilt_joint" _cke_saved_name="tilt_joint" value="0.0" />         

    </group_state>

--------------------- 

作者:跃动的风  王宪伟  大连大华中天科技有限公司软件开发工程师

来源:CSDN 

原文:https://blog.csdn.net/qq_23670601/article/details/88712629 

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