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Moveit +Gazebo:搭建单臂机械臂仿真平台_moveit gazebo

作者：AllinToyou | 2024-06-11 15:36:08

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moveit gazebo

环境：Ubuntu20.04 ros-noetic

先放上效果展示：

 

 首先要先安装ROS 和 Moveit，ROS的安装就不说了，Moeit的安装参看官网教程

Getting Started — moveit_tutorials Noetic documentation

安装过程中，用到了命令：

rosdep update

最好在安装的时候能够科学上网

搭建单臂仿真平台主要分为4大步

        1.准备urdf/xacro文件

        2.通过moveit setup assistant进行配置

        3.controller的配置

        4.launch文件的编写

准备urdf/xacro文件

这里我采用了 panda机械臂的功能包，首先进行该功能包的安装，通过命令：

sudo apt install ros-noetic-franka-description

        安装好之后呢就可以在目录/opt/ros/noetic/share/franka_description下找到要用的panda机械臂模型的xacro相关文件，这里在进行第二步之前呢，还需要对panda机械臂的xacro文件进行一点点修改，修改的目的主要是使模型具有gazebo仿真的相关标签和数据，这里可以直接使用我修改完成的。（需要安装franka-description包）

建议在moveit的工作空间下，新建一个功能包放置相关文件，比如

我在 moveit_ws/src下新建了panda_dual_arms的功能包,在panda_dual_arms/robot_description下放置了下面的模型文件left_arm.urdf

  1. <?xml version="1.0" ?>
  2. <robot name="left_arm">
  3.   <link name="world"/>
  4.   <joint name="left_base_to_world" type="fixed">
  5.     <parent link="world"/>
  6.     <child link="left_base"/>
  7.     <origin rpy="0 0 0" xyz="0 0 0"/>
  8.   </joint>
  9.   <link name="left_base"/>
  10.   <joint name="left_arm_joint_base" type="fixed">
  11.     <parent link="left_base"/>
  12.     <child link="left_arm_link0"/>
  13.     <origin rpy="0 0 0" xyz="0 0 0"/>
  14.   </joint>
  15.   <!-- sub-link defining detailed meshes for collision with environment -->
  16.   <link name="left_arm_link0">
  17.     <visual>
  18.       <geometry>
  19.         <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
  20.       </geometry>
  21.     </visual>
  22.     <collision>
  23.       <geometry>
  24.         <mesh filename="package://franka_description/meshes/collision/link0.stl"/>
  25.       </geometry>
  26.     </collision>
  27.     <inertial>
  28.       <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
  29.       <mass value="0.629769"/>
  30.       <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
  31.     </inertial>
  32.   </link>
  33.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  34.   <link name="left_arm_link0_sc">
  35.   </link>
  36.   <!-- fixed joint between both sub-links -->
  37.   <joint name="left_arm_link0_sc_joint" type="fixed">
  38.     <origin rpy="0 0 0"/>
  39.     <parent link="left_arm_link0"/>
  40.     <child link="left_arm_link0_sc"/>
  41.   </joint>
  42.   <!-- sub-link defining detailed meshes for collision with environment -->
  43.   <link name="left_arm_link1">
  44.     <visual>
  45.       <geometry>
  46.         <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
  47.       </geometry>
  48.     </visual>
  49.     <collision>
  50.       <geometry>
  51.         <mesh filename="package://franka_description/meshes/collision/link1.stl"/>
  52.       </geometry>
  53.     </collision>
  54.     <inertial>
  55.       <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
  56.       <mass value="4.970684"/>
  57.       <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
  58.     </inertial>
  59.   </link>
  60.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  61.   <link name="left_arm_link1_sc">
  62.   </link>
  63.   <!-- fixed joint between both sub-links -->
  64.   <joint name="left_arm_link1_sc_joint" type="fixed">
  65.     <origin rpy="0 0 0"/>
  66.     <parent link="left_arm_link1"/>
  67.     <child link="left_arm_link1_sc"/>
  68.   </joint>
  69.   <joint name="left_arm_joint1" type="revolute">
  70.     <origin rpy="0 0 0" xyz="0 0 0.333"/>
  71.     <parent link="left_arm_link0"/>
  72.     <child link="left_arm_link1"/>
  73.     <axis xyz="0 0 1"/>
  74.     <limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
  75.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
  76.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  77.   </joint>
  78.   <!-- sub-link defining detailed meshes for collision with environment -->
  79.   <link name="left_arm_link2">
  80.     <visual>
  81.       <geometry>
  82.         <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
  83.       </geometry>
  84.     </visual>
  85.     <collision>
  86.       <geometry>
  87.         <mesh filename="package://franka_description/meshes/collision/link2.stl"/>
  88.       </geometry>
  89.     </collision>
  90.     <inertial>
  91.       <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
  92.       <mass value="0.646926"/>
  93.       <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
  94.     </inertial>
  95.   </link>
  96.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  97.   <link name="left_arm_link2_sc">
  98.   </link>
  99.   <!-- fixed joint between both sub-links -->
  100.   <joint name="left_arm_link2_sc_joint" type="fixed">
  101.     <origin rpy="0 0 0"/>
  102.     <parent link="left_arm_link2"/>
  103.     <child link="left_arm_link2_sc"/>
  104.   </joint>
  105.   <joint name="left_arm_joint2" type="revolute">
  106.     <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
  107.     <parent link="left_arm_link1"/>
  108.     <child link="left_arm_link2"/>
  109.     <axis xyz="0 0 1"/>
  110.     <limit effort="87.0" lower="-1.7628" upper="1.7628" velocity="2.175"/>
  111.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
  112.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  113.   </joint>
  114.   <!-- sub-link defining detailed meshes for collision with environment -->
  115.   <link name="left_arm_link3">
  116.     <visual>
  117.       <geometry>
  118.         <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
  119.       </geometry>
  120.     </visual>
  121.     <collision>
  122.       <geometry>
  123.         <mesh filename="package://franka_description/meshes/collision/link3.stl"/>
  124.       </geometry>
  125.     </collision>
  126.     <inertial>
  127.       <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
  128.       <mass value="3.228604"/>
  129.       <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
  130.     </inertial>
  131.   </link>
  132.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  133.   <link name="left_arm_link3_sc">
  134.   </link>
  135.   <!-- fixed joint between both sub-links -->
  136.   <joint name="left_arm_link3_sc_joint" type="fixed">
  137.     <origin rpy="0 0 0"/>
  138.     <parent link="left_arm_link3"/>
  139.     <child link="left_arm_link3_sc"/>
  140.   </joint>
  141.   <joint name="left_arm_joint3" type="revolute">
  142.     <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
  143.     <parent link="left_arm_link2"/>
  144.     <child link="left_arm_link3"/>
  145.     <axis xyz="0 0 1"/>
  146.     <limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
  147.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
  148.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  149.   </joint>
  150.   <!-- sub-link defining detailed meshes for collision with environment -->
  151.   <link name="left_arm_link4">
  152.     <visual>
  153.       <geometry>
  154.         <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
  155.       </geometry>
  156.     </visual>
  157.     <collision>
  158.       <geometry>
  159.         <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
  160.       </geometry>
  161.     </collision>
  162.     <inertial>
  163.       <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
  164.       <mass value="3.587895"/>
  165.       <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
  166.     </inertial>
  167.   </link>
  168.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  169.   <link name="left_arm_link4_sc">
  170.   </link>
  171.   <!-- fixed joint between both sub-links -->
  172.   <joint name="left_arm_link4_sc_joint" type="fixed">
  173.     <origin rpy="0 0 0"/>
  174.     <parent link="left_arm_link4"/>
  175.     <child link="left_arm_link4_sc"/>
  176.   </joint>
  177.   <joint name="left_arm_joint4" type="revolute">
  178.     <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
  179.     <parent link="left_arm_link3"/>
  180.     <child link="left_arm_link4"/>
  181.     <axis xyz="0 0 1"/>
  182.     <limit effort="87.0" lower="-3.0718" upper="-0.0698" velocity="2.175"/>
  183.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
  184.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  185.   </joint>
  186.   <!-- sub-link defining detailed meshes for collision with environment -->
  187.   <link name="left_arm_link5">
  188.     <visual>
  189.       <geometry>
  190.         <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
  191.       </geometry>
  192.     </visual>
  193.     <collision>
  194.       <geometry>
  195.         <mesh filename="package://franka_description/meshes/collision/link5.stl"/>
  196.       </geometry>
  197.     </collision>
  198.     <inertial>
  199.       <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
  200.       <mass value="1.225946"/>
  201.       <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
  202.     </inertial>
  203.   </link>
  204.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  205.   <link name="left_arm_link5_sc">
  206.   </link>
  207.   <!-- fixed joint between both sub-links -->
  208.   <joint name="left_arm_link5_sc_joint" type="fixed">
  209.     <origin rpy="0 0 0"/>
  210.     <parent link="left_arm_link5"/>
  211.     <child link="left_arm_link5_sc"/>
  212.   </joint>
  213.   <joint name="left_arm_joint5" type="revolute">
  214.     <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
  215.     <parent link="left_arm_link4"/>
  216.     <child link="left_arm_link5"/>
  217.     <axis xyz="0 0 1"/>
  218.     <limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
  219.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
  220.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  221.   </joint>
  222.   <!-- sub-link defining detailed meshes for collision with environment -->
  223.   <link name="left_arm_link6">
  224.     <visual>
  225.       <geometry>
  226.         <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
  227.       </geometry>
  228.     </visual>
  229.     <collision>
  230.       <geometry>
  231.         <mesh filename="package://franka_description/meshes/collision/link6.stl"/>
  232.       </geometry>
  233.     </collision>
  234.     <inertial>
  235.       <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
  236.       <mass value="1.666555"/>
  237.       <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
  238.     </inertial>
  239.   </link>
  240.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  241.   <link name="left_arm_link6_sc">
  242.   </link>
  243.   <!-- fixed joint between both sub-links -->
  244.   <joint name="left_arm_link6_sc_joint" type="fixed">
  245.     <origin rpy="0 0 0"/>
  246.     <parent link="left_arm_link6"/>
  247.     <child link="left_arm_link6_sc"/>
  248.   </joint>
  249.   <joint name="left_arm_joint6" type="revolute">
  250.     <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
  251.     <parent link="left_arm_link5"/>
  252.     <child link="left_arm_link6"/>
  253.     <axis xyz="0 0 1"/>
  254.     <limit effort="12.0" lower="-0.0175" upper="3.7525" velocity="2.61"/>
  255.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
  256.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  257.   </joint>
  258.   <!-- sub-link defining detailed meshes for collision with environment -->
  259.   <link name="left_arm_link7">
  260.     <visual>
  261.       <geometry>
  262.         <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
  263.       </geometry>
  264.     </visual>
  265.     <collision>
  266.       <geometry>
  267.         <mesh filename="package://franka_description/meshes/collision/link7.stl"/>
  268.       </geometry>
  269.     </collision>
  270.     <inertial>
  271.       <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
  272.       <mass value="0.735522"/>
  273.       <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
  274.     </inertial>
  275.   </link>
  276.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  277.   <link name="left_arm_link7_sc">
  278.   </link>
  279.   <!-- fixed joint between both sub-links -->
  280.   <joint name="left_arm_link7_sc_joint" type="fixed">
  281.     <origin rpy="0 0 0.7853981633974483"/>
  282.     <parent link="left_arm_link7"/>
  283.     <child link="left_arm_link7_sc"/>
  284.   </joint>
  285.   <joint name="left_arm_joint7" type="revolute">
  286.     <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
  287.     <parent link="left_arm_link6"/>
  288.     <child link="left_arm_link7"/>
  289.     <axis xyz="0 0 1"/>
  290.     <limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
  291.     <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
  292.     <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
  293.   </joint>
  294.   <link name="left_arm_link8"/>
  295.   <joint name="left_arm_joint8" type="fixed">
  296.     <origin rpy="0 0 0" xyz="0 0 0.107"/>
  297.     <parent link="left_arm_link7"/>
  298.     <child link="left_arm_link8"/>
  299.   </joint>
  300.   <joint name="left_arm_hand_joint" type="fixed">
  301.     <parent link="left_arm_link8"/>
  302.     <child link="left_arm_hand"/>
  303.     <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
  304.   </joint>
  305.   <!-- sub-link defining detailed meshes for collision with environment -->
  306.   <link name="left_arm_hand">
  307.     <visual>
  308.       <geometry>
  309.         <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
  310.       </geometry>
  311.     </visual>
  312.     <collision>
  313.       <geometry>
  314.         <mesh filename="package://franka_description/meshes/collision/hand.stl"/>
  315.       </geometry>
  316.     </collision>
  317.     <inertial>
  318.       <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
  319.       <mass value="0.73"/>
  320.       <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
  321.     </inertial>
  322.   </link>
  323.   <!-- sub-link defining coarse geometries of real robot's internal self-collision -->
  324.   <link name="left_arm_hand_sc">
  325.   </link>
  326.   <!-- fixed joint between both sub-links -->
  327.   <joint name="left_arm_hand_sc_joint" type="fixed">
  328.     <origin rpy="0 0 0"/>
  329.     <parent link="left_arm_hand"/>
  330.     <child link="left_arm_hand_sc"/>
  331.   </joint>
  332.   <!-- Define the hand_tcp frame -->
  333.   <link name="left_arm_hand_tcp"/>
  334.   <joint name="left_arm_hand_tcp_joint" type="fixed">
  335.     <origin rpy="0 0 0" xyz="0 0 0.1034"/>
  336.     <parent link="left_arm_hand"/>
  337.     <child link="left_arm_hand_tcp"/>
  338.   </joint>
  339.   <link name="left_arm_leftfinger">
  340.     <visual>
  341.       <geometry>
  342.         <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
  343.       </geometry>
  344.     </visual>
  345.     <!-- screw mount -->
  346.     <collision>
  347.       <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
  348.       <geometry>
  349.         <box size="22e-3 15e-3 20e-3"/>
  350.       </geometry>
  351.     </collision>
  352.     <!-- cartriage sledge -->
  353.     <collision>
  354.       <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
  355.       <geometry>
  356.         <box size="22e-3 8.8e-3 3.8e-3"/>
  357.       </geometry>
  358.     </collision>
  359.     <!-- diagonal finger -->
  360.     <collision>
  361.       <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
  362.       <geometry>
  363.         <box size="17.5e-3 7e-3 23.5e-3"/>
  364.       </geometry>
  365.     </collision>
  366.     <!-- rubber tip with which to grasp -->
  367.     <collision>
  368.       <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
  369.       <geometry>
  370.         <box size="17.5e-3 15.2e-3 18.5e-3"/>
  371.       </geometry>
  372.     </collision>
  373.     <inertial>
  374.       <origin rpy="0 0 0" xyz="0 0 0"/>
  375.       <mass value="0.015"/>
  376.       <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
  377.     </inertial>
  378.   </link>
  379.   <link name="left_arm_rightfinger">
  380.     <visual>
  381.       <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  382.       <geometry>
  383.         <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
  384.       </geometry>
  385.     </visual>
  386.     <!-- screw mount -->
  387.     <collision>
  388.       <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
  389.       <geometry>
  390.         <box size="22e-3 15e-3 20e-3"/>
  391.       </geometry>
  392.     </collision>
  393.     <!-- cartriage sledge -->
  394.     <collision>
  395.       <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
  396.       <geometry>
  397.         <box size="22e-3 8.8e-3 3.8e-3"/>
  398.       </geometry>
  399.     </collision>
  400.     <!-- diagonal finger -->
  401.     <collision>
  402.       <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
  403.       <geometry>
  404.         <box size="17.5e-3 7e-3 23.5e-3"/>
  405.       </geometry>
  406.     </collision>
  407.     <!-- rubber tip with which to grasp -->
  408.     <collision>
  409.       <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
  410.       <geometry>
  411.         <box size="17.5e-3 15.2e-3 18.5e-3"/>
  412.       </geometry>
  413.     </collision>
  414.     <inertial>
  415.       <origin rpy="0 0 0" xyz="0 0 0"/>
  416.       <mass value="0.015"/>
  417.       <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
  418.     </inertial>
  419.   </link>
  420.   <joint name="left_arm_finger_joint1" type="prismatic">
  421.     <parent link="left_arm_hand"/>
  422.     <child link="left_arm_leftfinger"/>
  423.     <origin rpy="0 0 0" xyz="0 0 0.0584"/>
  424.     <axis xyz="0 1 0"/>
  425.     <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
  426.     <dynamics damping="0.3"/>
  427.   </joint>
  428.   <joint name="left_arm_finger_joint2" type="prismatic">
  429.     <parent link="left_arm_hand"/>
  430.     <child link="left_arm_rightfinger"/>
  431.     <origin rpy="0 0 0" xyz="0 0 0.0584"/>
  432.     <axis xyz="0 -1 0"/>
  433.     <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
  434.     <mimic joint="left_arm_finger_joint1"/>
  435.     <dynamics damping="0.3"/>
  436.   </joint>
  437.  
  438.   <gazebo reference="left_arm_joint1">
  439.     <!-- Needed for ODE to output external wrenches on joints -->
  440.     <provideFeedback>true</provideFeedback>
  441.   </gazebo>
  442.   <transmission name="left_arm_joint1_transmission">
  443.     <type>transmission_interface/SimpleTransmission</type>
  444.     <joint name="left_arm_joint1">
  445.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  446.     </joint>
  447.     <actuator name="left_arm_joint1_motor">
  448.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  449.     </actuator>
  450.   </transmission>
  451.   <gazebo reference="left_arm_joint2">
  452.     <!-- Needed for ODE to output external wrenches on joints -->
  453.     <provideFeedback>true</provideFeedback>
  454.   </gazebo>
  455.   <transmission name="left_arm_joint2_transmission">
  456.     <type>transmission_interface/SimpleTransmission</type>
  457.     <joint name="left_arm_joint2">
  458.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  459.     </joint>
  460.     <actuator name="left_arm_joint2_motor">
  461.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  462.     </actuator>
  463.   </transmission>
  464.   <gazebo reference="left_arm_joint3">
  465.     <!-- Needed for ODE to output external wrenches on joints -->
  466.     <provideFeedback>true</provideFeedback>
  467.   </gazebo>
  468.   <transmission name="left_arm_joint3_transmission">
  469.     <type>transmission_interface/SimpleTransmission</type>
  470.     <joint name="left_arm_joint3">
  471.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  472.     </joint>
  473.     <actuator name="left_arm_joint3_motor">
  474.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  475.     </actuator>
  476.   </transmission>
  477.   <gazebo reference="left_arm_joint4">
  478.     <!-- Needed for ODE to output external wrenches on joints -->
  479.     <provideFeedback>true</provideFeedback>
  480.   </gazebo>
  481.   <transmission name="left_arm_joint4_transmission">
  482.     <type>transmission_interface/SimpleTransmission</type>
  483.     <joint name="left_arm_joint4">
  484.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  485.     </joint>
  486.     <actuator name="left_arm_joint4_motor">
  487.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  488.     </actuator>
  489.   </transmission>
  490.   <gazebo reference="left_arm_joint5">
  491.     <!-- Needed for ODE to output external wrenches on joints -->
  492.     <provideFeedback>true</provideFeedback>
  493.   </gazebo>
  494.   <transmission name="left_arm_joint5_transmission">
  495.     <type>transmission_interface/SimpleTransmission</type>
  496.     <joint name="left_arm_joint5">
  497.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  498.     </joint>
  499.     <actuator name="left_arm_joint5_motor">
  500.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  501.     </actuator>
  502.   </transmission>
  503.   <gazebo reference="left_arm_joint6">
  504.     <!-- Needed for ODE to output external wrenches on joints -->
  505.     <provideFeedback>true</provideFeedback>
  506.   </gazebo>
  507.   <transmission name="left_arm_joint6_transmission">
  508.     <type>transmission_interface/SimpleTransmission</type>
  509.     <joint name="left_arm_joint6">
  510.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  511.     </joint>
  512.     <actuator name="left_arm_joint6_motor">
  513.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  514.     </actuator>
  515.   </transmission>
  516.   <gazebo reference="left_arm_joint7">
  517.     <!-- Needed for ODE to output external wrenches on joints -->
  518.     <provideFeedback>true</provideFeedback>
  519.   </gazebo>
  520.   <transmission name="left_arm_joint7_transmission">
  521.     <type>transmission_interface/SimpleTransmission</type>
  522.     <joint name="left_arm_joint7">
  523.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  524.     </joint>
  525.     <actuator name="left_arm_joint7_motor">
  526.       <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  527.     </actuator>
  528.   </transmission>
  529.  
  530.  
  531.   <gazebo reference="left_arm_finger_joint1">
  532.     <!-- Needed for ODE to output external wrenches on joints -->
  533.     <provideFeedback>true</provideFeedback>
  534.   </gazebo>
  535.   <transmission name="left_arm_finger_joint1_transmission">
  536.     <type>transmission_interface/SimpleTransmission</type>
  537.     <joint name="left_arm_finger_joint1">
  538.       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  539.     </joint>
  540.     <actuator name="left_arm_finger_joint1_motor">
  541.       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  542.     </actuator>
  543.   </transmission>
  544.   <gazebo reference="left_arm_finger_joint2">
  545.     <!-- Needed for ODE to output external wrenches on joints -->
  546.     <provideFeedback>true</provideFeedback>
  547.   </gazebo>
  548.   <transmission name="left_arm_finger_joint2_transmission">
  549.     <type>transmission_interface/SimpleTransmission</type>
  550.     <joint name="left_arm_finger_joint2">
  551.       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  552.     </joint>
  553.     <actuator name="left_arm_finger_joint2_motor">
  554.       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  555.     </actuator>
  556.   </transmission>
  557.  
  558.   <!-- load ros_control plugin -->
  559.   <gazebo>
  560.     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>
  561.       <robotNamespace>/left_arm</robotNamespace>
  562.   </gazebo>
  563. </robot>

Moveit setup assitant的配置

详细的配置介绍和过程参考官方教程：MoveIt Setup Assistant — moveit_tutorials Noetic documentation

        这里我贴上我的配置过程，进行了自碰撞矩阵、规划组、姿态、末端执行器的配置，关于虚拟关节和被动关节以及控制器的环节跳过即可。

自碰撞矩阵，按照默认情况生成即可

规划组分为arm和hand 两个组，arm组名我这里是：left_arm添加如图下所示的joint，hand是:left_hand，添加如图下所示的links

这里我还配置了几个pose，主要方便后期的编程，各个pose包含的关节值：

ready:{0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785}.

open:0.035

close:0.0

 最后就是定义的末端执行器

 完成后会得到一个 我命名为 left_arm_moveit_config的功能包

在工作空间下重新 catkin build 并 source

通过命令 roslaunch left_arm_moveit_config demo.launch能够运行，并且能够通过rviz对及机械臂进行规划则没有问题。

controller的配置

首先是joint_state_controller,主要作用是发布机器人的关节状态和TF变换

在panda_dual_arms/config 下创建 joint_state_controller.yaml

  1. joint_state_controller:
  2.     type: joint_state_controller/JointStateController
  3.     publish_rate: 50

然后是trajectory_controller,Moveit完成运动规划后输出接口是一个命名为FollowJointTrajectory的action,其中包含一系列规划好的路径点轨迹，Trajectory Controller的作用就是将这些信息转化成Gzebo中机器人需要输入的joint位置。

在panda_dual_arms/config trajectory_controller.yaml

  1. left_arm_trajectory_controller:
  2.     type: "position_controllers/JointTrajectoryController"
  3.     joints:
  4.         - left_arm_joint1
  5.         - left_arm_joint2
  6.         - left_arm_joint3
  7.         - left_arm_joint4
  8.         - left_arm_joint5
  9.         - left_arm_joint6
  10.         - left_arm_joint7
  11.     constraints:
  12.         goal_time: 0.6
  13.         stopped_velocity_tolerance: 0.05
  14.         left_arm_joint1: {trajectory: 0.1, goal: 0.1}
  15.         left_arm_joint2: {trajectory: 0.1, goal: 0.1}
  16.         left_arm_joint3: {trajectory: 0.1, goal: 0.1}
  17.         left_arm_joint4: {trajectory: 0.1, goal: 0.1}
  18.         left_arm_joint5: {trajectory: 0.1, goal: 0.1}
  19.         left_arm_joint6: {trajectory: 0.1, goal: 0.1}
  20.         left_arm_joint7: {trajectory: 0.1, goal: 0.1}
  21.     stop_trajectory_duration: 0.5
  22.     state_publish_rate:  25
  23.     action_monitor_rate: 10
  24.  
  25. #notice that the grippers joint2 mimics joint1
  26. #this is why it is not listed under the hand controllers
  27.  
  28. left_hand_controller:
  29.     type: "effort_controllers/JointTrajectoryController"
  30.     joints:
  31.         - left_arm_finger_joint1
  32.     gains:
  33.         left_arm_finger_joint1:  {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}

launch文件的编写

launch文件的个部分内容都有注释，主要就是启动gazebo，启动moveit，启动上面的controller，启动rviz

  1. <?xml version="1.0"?>
  2. <launch>
  3.         <!-- Run the main MoveIt executable with trajectory execution -->
  4.         <include file="$(find left_arm_moveit_config)/launch/move_group.launch">
  5.             <arg name="allow_trajectory_execution" value="true" />
  6.             <arg name="moveit_controller_manager" value="ros_control" />
  7.             <arg name="fake_execution_type" value="interpolate" />
  8.             <arg name="info" value="true" />
  9.             <arg name="debug" value="false" />
  10.             <arg name="pipeline" value="ompl" />
  11.             <arg name="load_robot_description" value="true" />
  12.         </include>
  13.  
  14.     <!-- Launch empty Gazebo world -->
  15.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  16.         <arg name="use_sim_time" value="true" />
  17.         <arg name="gui" value="true" />
  18.         <arg name="paused" value="false" />
  19.         <arg name="debug" value="false" />
  20.     </include>
  21.  
  22.         <param name="robot_description" command="$(find xacro)/xacro  '$(find panda_dual_arms)/robot_description/left_arm.urdf'" />
  23.         <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -param robot_description -model left_arm" />
  24.  
  25.         <!-- Robot state publisher -->
  26.         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
  27.             <param name="publish_frequency" type="double" value="50.0" />
  28.             <param name="tf_prefix" type="string" value="" />
  29.         </node>
  30.         <!-- Joint state controller -->
  31.         <rosparam file="$(find panda_dual_arms)/config/left_arm_joint_state_controller.yaml" command="load" />
  32.         <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner"  args="joint_state_controller" respawn="false" output="screen" />
  33.  
  34.         <!-- Joint trajectory controller -->
  35.         <rosparam file="$(find panda_dual_arms)/config/left_arm_trajectory_controller.yaml" command="load" />
  36.         <node name="arms_trajectory_controller_spawner" pkg="controller_manager" type="spawner"  respawn="false" output="screen"  args="left_arm_trajectory_controller left_hand_controller" />
  37.     
  38.         <!-- Start moveit_rviz with the motion planning plugin -->
  39.         <include file="$(find left_arm_moveit_config)/launch/moveit_rviz.launch">
  40.             <arg name="rviz_config" value="$(find left_arm_moveit_config)/launch/moveit.rviz" />
  41.         </include>
  42. </launch>

参考：Multiple Robot Arms — moveit_tutorials Noetic documentation

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