MoveIt+ Gazebo 联合仿真环境搭建（巨简单版）

MoveIt!+ Gazebo 联合仿真环境搭建（巨简单版）

参考书籍和大佬们的贴子，笔者将MoveIt！实现机器人控制的方法总结为以下四个步骤：

1）创建机器人URDF模型（改为xacro格式也行），并添加运动插件。

在已建立的URDF模型里面，为 joints 添加传动装置 （add transmission for every joint），添加 gazebo 插件（add one gazebo plugin），可参考以下代码。

<transmission name="trans_joint1">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint1">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint1_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>
    <transmission name="trans_joint2">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint2">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint2_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>
    <transmission name="trans_joint3">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint3">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint3_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>
    <transmission name="trans_joint4">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint4">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint4_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>
    <transmission name="trans_joint5">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint5">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint5_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>
    <transmission name="trans_joint6">
        <type>transmission_interface/SimpleTransmissiontype>
        <joint name="joint6">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
        joint>
        <actuator name="joint6_motor">
            <hardwareInterface>hardware_interface/PositionJointInterfacehardwareInterface>
            <mechanicalReduction>1mechanicalReduction>
        actuator>
    transmission>

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/robotNamespace>
            <robotSimType>gazebo_ros_control/DefaultRobotHWSimrobotSimType>
            <legacyModeNS>truelegacyModeNS>
        plugin>
    gazebo>

2）使用 MoveIt！Setup Assistant 工具生成配置文件。

就不详细说了，网上很多教程，按照教程一步一步来就行。

可以参考这篇moveit规划机器人轨迹控制gazebo里的仿真 ，参考配置 moveit 包这部分就够了，该作者的教程能走通但是更复杂。（感谢大佬的教程）

3）添加机器人控制器或控制插件

修改由 MoveIt！Setup Assistant 创建的功能包_moveit_config/config/ros_controllers.yaml, 在最末尾添加控制器或控制插件。（# the blow lines are added for need!）后面部分是需要添加的，可以参考然后为自己的机器人添加插件。

# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
  joint_model_group: arm
  joint_model_group_pose: home
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - joint1
    - joint2
    - joint3
    - joint4
    - joint5
    - joint6
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: arm_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
  - name: gripper_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - joint6
# the blow lines are added for need!
arm_controller: 
  type: position_controllers/JointTrajectoryController
  joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
  gains: 
    joint1: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1
    joint2: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1
    joint3: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1
    joint4: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1
    joint5: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1
gripper_controller:
  type: position_controllers/JointTrajectoryController
  joints:
      - joint6
  gains: 
    joint6: 
      p: 100
      d: 1
      i: 1 
      i_clamp: 1

修改 _moveit_config/launch/ros_controllers.launch。 args=“joint_state_controller arm_controller gripper_controller” 双引号里面的内容是自己添加的。注意这几个控制器名字必须和ros_controllers.yaml文件里面的名字一样。

<launch>

  
  <rosparam file="$(find arm_g2_moveit_config)/config/ros_controllers.yaml" command="load"/>

  
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="joint_state_controller arm_controller gripper_controller"/>

launch>

4）运行demo_gazebo.launch，使用MoveIt! 控制机器人运动。

使用以上教程，顺利完成的联合仿真，如下图所示。

一些会出现的bug, 可忽略不影响。

[TERROR][1648205080.5748877891: Could not find the planner confiquration ‘None’ on the param server

修改方法：找到创建的功能包_moveit_config/config/ompl_planning.yaml，修改对应代码：

arm:
  default_planner_config: None   # None 改为 RRT 或者 RRTConnect 等