ros构建机器人运动学模型_ROS入门学习之八机器人综合应用

1.ROS机器人实例介绍(PR2,Turtlebot,HRMRP,Kungfu Arm)

• 1).PR2:造就了ROS的机器人平台，完全基于ROS开发，功能丰富、强大
• 2).Turtlebot:ROS社区中最流行的高性价比机器人平台，前后工发布三代
• 3).Universal Robot:工业领域的协作机器人定义者
• 4).HRMRP:基于ARM+FPGA的异构实时移动机器人平台，可实现SLAM、导航、图像处理、多机器人协作等功能
• 5).Kungfu Arm:基于ROS-I框架的机械臂控制系统，集成了机器视觉、语音、灵巧手等丰富的传感器和执行器

安装PR2功能包

sudo apt‐get install ros‐kinetic‐pr2‐*

启动Gazeboz仿真

roslaunch pr2_gazebo pr2_empty_world.launch 

键盘控制

roslaunch pr2_teleop teleop_keyboard.launch 

启动SLAM

roslaunch pr2_build_map.launch 
roslaunch pr2_teleop teleop_keyboard.launch 

机械臂控制

roslaunch pr2_gazebo pr2_empty_world.launch 
roslaunch pr2_teleop_general pr2_teleop_general_keyboard.launch 

机械臂MoveIt!控制

git clone https://github.com/davetcoleman/pr2_moveit_config.git
catkin_make 
roslaunch pr2_moveit_config demo.launch 

Gazebo+MoveIt!控制

roslaunch pr2_gazebo pr2_empty_world.launch 
roslaunch pr2_moveit_config move_group.launch 
roslaunch pr2_moveit_config move_rviz.launch 

Turtlebot

安装Turtlebot功能包

sudo apt-get install ros-kinetic-turtlebot-*

启动仿真环境

export TURTLEBOT_GAZEBO_WORLD_FILE="/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playgroud.world" 
roslaunch turtlebot_gazebo turtlebot_world.launch 

键盘控制

roslaunch turtlebot_teleop keyboard_teleop.launch

SLAM建图

export TURTLEBOT_GAZEBO_WORLD_FILE="/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playgroud.world" 
roslaunch turtlebot_gazebo turtlebot_world.launch 
roslaunch turtlebot_gazebo gmapping_demo.launch 
roslaunch turtlebot_rviz_launchers view_navigation.launch 
roslaunch turtlebot_teleop keyboard_teleop.launch 

自主导航

roslaunch turtlebot_gazebo amcl_demo.launch 
map_file:=/home/sl/turtlebot_test_map.yaml 
roslaunch turtlebot_rviz_launchers view_navigation.launch 

安装Turtlebot3功能包

sudo apt-get install ros-kinetic-turtlebot3-* 

启动仿真环境

export TURTLRBOT3_MODEL=burger 
roslaunch turtlebot3_gazebo_ros turtlebot3_world.launch 

SLAM建图

roslaunch turtlebot3_slam turtlebot3_slam.launch 
rosrun turtlebot3_teleop turtlebot3_teleop_key 

Universal Robot 优傲机器人

• 一家引领协作机器人全新细分市场的先驱企业
• 关注机器人的用户可操作性和灵活度
• 安全度高、无需安全围栏、编程简单、灵活度高
• UR5,自重18公斤，负载高达5公斤、工作半径85cm
• UR3,自重11公斤，有效负载3公斤，所有腕关节均可360度旋转，末端关节可作无线旋转
• UR10的有效负载为10公斤，工作半径130cm

安装UR功能包

sudo apt-get install ros-kinetic-universal-robot 

启动仿真环境

roslaunch ur_gazebo ur5.launch 

MoveIt!+gazebo

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true 
roslaunch ur5_moveit_config moveit_rviz.launch config:=true 

HRMRP

Kungfu Arm

• 基于ROS/ROS-I实现
• 同时控制六轴机械臂和仿生手，实现灵巧的夹持姿势
• 集成了多种运动规划库，可以实现运动学求解、路径规划、自主避障、速度和加速度的高阶平滑
• 集成高速视觉识算法，可以识别、定位工作范围内的杯子、茶球等物体，辅助机器人抓取
• 集成中文语音识别功能，可以实现语音控制、编程，丰富了机器人的输入途径
• 功能丰富的人机交互界面，不仅提供常用的机器人控制和监控，同时具备可热切换的3D离线仿真功能
• 底层伺服通讯采用高速EtherCAT工业总线，可以适配多种机器人本体

2.构建综合机器人平台

编译源码

sudo apt-get install ros-kinetic-velodyne-simulator 
sudo apt-get install ros-kinetic-hector-gazebo-plugins 
sudo apt-get install ros-kinetic-pcl-conversions ros-kinetic-pointcloud-to-laserscan 
catkin_make 

mbot pro

模型显示

roslaunch mbot_description display_mbot_pro_xacro.laserscan 

仿真环境

roslaunch mbot_gazebo view_mbot_pro_with_laser_kinetic_gazebo.launch 

物体跟踪

roslaunch mbot_gazebo view_mbot_pro_with_laser_kinetic_gazebo.launch 
roslaunch mbot_follower follower_bringup_nodelet.launch 

marm pro

模型显示

roslaunch marm_desription view_arm.launch 

仿真环境

roslaunch marm_gazebo arm_world.launch 

MoveIt!视觉集成

roslaunch marm_gazebo arm_bringup_moveit.launch 

mbot+marm

模型显示

roslaunch marm_desription view_mbot_with_arm.launch 
roslaunch marm_desription view_mbot_with_arm_kinect.launch 

MoveIt!控制

roslaunch mbot_with_arm_moveit_config demo.launch 

gazebo仿真环境

roslaunch marm_gazebo mbot_with_arm_world.launch 

MoveIt!+gazebo控制

roslaunch marm_gazebo mbot_with_arm_bringup_moveit.launch