1。现象move_group.getCurrentPose或许数据错误 更改前代码: 输出结果: rviz中的tf数据 发现第一次得到的数据是错误的。 2。解决办法: 在第一次创建move_group的后面加上 group.startStateMonitor(); 作用是开启状态监控器,使得move_group及时获取关节角。 此时的输出 可以发现现在得到的pose数据是对的了...
def plan_cartesian_path(self, scale=1):waypoints = []wpose = self.move_group_commander.get_current_pose().posewpose.position.z -= scale *0.1# First move up (z)waypoints.append(copy.deepcopy(wpose))wpose.position....
visual_tools.publishText(text_pose,"Motion Planning Pipeline Demo", rvt::WHITE, rvt::XLARGE);/*Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations*/visual_tools.trigger();/*We can also use visual_tools to wait for user input*/visual_tools...
geometry_msgs::Pose start_pose = arm.getCurrentPose(end_effector_link).pose; std::vector<geometry_msgs::Pose> waypoints; //将初始位姿加入路点列表 waypoints.push_back(start_pose); start_pose.position.z -= 0.093; waypoints.push_back(start_pose); start_pose.position.x += 0.04; waypoints.p...
wpose = self.move_group_commander.get_current_pose().pose wpose.position.z -= scale *0.1# First move up (z)waypoints.append(copy.deepcopy(wpose)) wpose.position.x += scale *0.1# Second move forward/backwards in (x)waypoints.append(copy.deepcopy(wpose)) ...
end_effector_link = arm.get_end_effector_link() # 控制机械臂先回到初始化位置 arm.set_named_target('home') arm.go() rospy.sleep(1) # 获取当前位姿数据最为机械臂运动的起始位姿 start_pose = arm.get_current_pose(end_effector_link).pose ...
moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("r_wrist_roll_link", pose, tolerance_pose, tolerance_angle); req.goal_constraints.push_back(pose_goal); 调用管道检查规划是否成功 planning_pipeline->generatePlan(planning_scene, req, res); ...
from std_msgs.msgimportStringfrom moveit_commander.conversionsimportpose_to_list 初始化moveit_commander,创建一个node moveit_commander.roscpp_initialize(sys.argv)rospy.init_node('move_group_python_interface_tutorial',anonymous=True) 创建一个RobotCommander的对象。RobotCommander是针对整个机器人的控制。
Planning to a Pose goal 指定一个末端执行器的目标姿态,调用规划运动。 先创建一个目标姿态 geometry_msgs::Pose target_pose1;target_pose1.orientation.w=1.0;target_pose1.position.x=0.28;target_pose1.position.y=-0.2;target_pose1.position.z=0.5;move_group.setPoseTarget(target_pose1); ...
group.clear_pose_targets() 取得组目前设置的连接值 group_variable_values = group.get_current_joint_values() print "=== Joint values: ", group_variable_values 修改其中一个关节,规划移动到新的连接空间目标,可视化规划。 group_variable_values[0] = 1.0 group.set_joint...