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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:
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。
<!--add transmission for every joint--> <transmission name="trans_joint1"> <type>transmission_interface/SimpleTransmission</type> <joint name="joint1"> <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="joint1_motor"> <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> <transmission name="trans_joint2"> <type>transmission_interface/SimpleTransmission</type> <joint name="joint2"> <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="joint2_motor"> <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction>
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