Kinova MOVO官網(wǎng)

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1、MOVO安裝教程

翻譯自movo-github-wiki

MOVO開(kāi)發(fā)硬件需求

官方只支持Ubuntu 14.04 Trusty, x64 platform (core i5, core i7), 8GB RAM。

軟件安裝

您需要安裝幾個(gè)開(kāi)發(fā)包才能在MOVO上進(jìn)行開(kāi)發(fā)。 一些包裝屬于Kinova外部開(kāi)發(fā)包，其他的是Kinova專用開(kāi)發(fā)包。 如果您在安裝Kinova開(kāi)發(fā)包時(shí)遇到任何障礙，請(qǐng)?jiān)诖颂巿?bào)告問(wèn)題。 對(duì)于任何專門針對(duì)外部庫(kù)的問(wèn)題，這些庫(kù)的支持團(tuán)隊(duì)可能是獲得修復(fù)的最佳選擇。 但是，我們很樂(lè)意回答您的任何問(wèn)題，并提供有關(guān)您使用MOVO開(kāi)發(fā)的任何問(wèn)題的幫助。 本節(jié)將指導(dǎo)您完成安裝過(guò)程。

-有兩種安裝的方式：自動(dòng)/手動(dòng)

自動(dòng)安裝腳本使用方式：創(chuàng)建工作區(qū)并克隆kinova-movo庫(kù)后，運(yùn)行交互式bash腳本* setup_remote_pc *以自動(dòng)執(zhí)行安裝。推薦采用自動(dòng)方式。

手動(dòng)安裝方式具體見(jiàn)此處。

連接到MOVO平臺(tái)

通過(guò)無(wú)線或有限兩種方式連接到MOVO平臺(tái)。

無(wú)線wifi(wifi名: MoVoWifi 密碼: Welcome00)

通過(guò)SSH登陸到MOVO,ssh movo@10.66.171.1,登陸密碼Welcome00。

若要將手柄連接到遠(yuǎn)程開(kāi)發(fā)者電腦上使用，打開(kāi)終端進(jìn)行以下操作：

cd ~/movo_ws

sws # alias sws='source ./devel/setup.bash' defined in .bashrc

roslaunch movo_remote_teleop movo_remote_teleop.launch

若要將手柄插在MOVO上使用，在遠(yuǎn)程開(kāi)發(fā)者電腦上SSH登陸到MOVO后，執(zhí)行以下操作：

cd ~/movo_ws

sws # alias sws='source ./devel/setup.bash' defined in .bashrc

roslaunch movo_remote_teleop movo_remote_teleop.launch

２、MOVO機(jī)器人的基本使用

官方提供了以下功能：

建立遠(yuǎn)程開(kāi)發(fā)者電腦與ＭOVO的連接

檢測(cè)遠(yuǎn)程連接狀態(tài)

使用真實(shí)機(jī)器人重新配置參數(shù)

查找Kinect序列號(hào)

為6自由度機(jī)械臂配置MOVO

-更新MOVO代碼

-診斷MOVO啟動(dòng)問(wèn)題

樣例DEMO

使用真實(shí)機(jī)器人建圖

使用真實(shí)機(jī)器人在rviz中導(dǎo)航地圖

使用直接操作模式控制真實(shí)機(jī)器人

使用輔助操作模式控制真實(shí)機(jī)器人

使用仿真機(jī)器人建圖

使用仿真機(jī)器人定位

3、制作倒水DEMO

基于Moveit對(duì)機(jī)械臂進(jìn)行規(guī)劃，具體學(xué)習(xí)可以參照此處:

通過(guò)c++接口調(diào)用Moveit進(jìn)行編程

ros::actionlib動(dòng)作服務(wù)器（action server）在動(dòng)作客戶端（action client）中的調(diào)用

ROS教程下載

以下為主程序

// movo_moveit_uoperbody.cpp

#include <moveit/move_group_interface/move_group.h>

#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/DisplayRobotState.h> 

#include <moveit_msgs/DisplayTrajectory.h> 

#include <moveit_msgs/AttachedCollisionObject.h> 

#include <moveit_msgs/CollisionObject.h> 

#include <control_msgs/GripperCommandActionGoal.h>

//grasp

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

#include <control_msgs/GripperCommandAction.h>

#include <control_msgs/GripperCommandGoal.h>

int main(int argc, char **argv)

{

  ros::init(argc, argv, "movo_moveit");

  ros::NodeHandle node_handle; 

  ros::AsyncSpinner spinner(1);

  spinner.start();

//action grasp

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acr("/movo/right_gripper_controller/gripper_cmd", true);

ROS_INFO("Waiting for the gripper action server");

acr.waitForServer(ros::Duration(3));

ROS_INFO("Connected to move base server");

control_msgs::GripperCommandGoal grigoal_right;

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acl("/movo/left_gripper_controller/gripper_cmd", true);

// Wait 60 seconds for the action server to become available

ROS_INFO("Waiting for the gripper action server");

acl.waitForServer(ros::Duration(3));

ROS_INFO("Connected to move base server");

control_msgs::GripperCommandGoal grigoal_left;

  moveit::planning_interface::MoveGroup group("upper_body");

  moveit::planning_interface::MoveGroup l_group("left_arm");

  moveit::planning_interface::MoveGroup r_group("right_arm");

  group.setNamedTarget("homed_2")

  moveit::planning_interface::MoveGroup::Plan upperbody_plan;

  bool success_upper = group.plan(upperbody_plan);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper)

      group.execute(upperbody_plan); 

  group.setNamedTarget("plan_grasp");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1;

  bool success_upper_1 = group.plan(upperbody_plan_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1)

    {

      group.execute(upperbody_plan_1);

    }

//opengrasp

grigoal_right.command.position = 0.16

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

grigoal_left.command.position = 0.16;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  sleep(3);

  //youbi_1_2_3

  r_group.setNamedTarget("right_grasp1");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1;

  bool success_right_grasp_1 = r_group.plan(right_grasp_plan_1);

  ROS_INFO("Visualizing plan1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_1);

    }

  r_group.setNamedTarget("right_grasp2");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2;

  bool success_right_grasp_2 = r_group.plan(right_grasp_plan_2);

  ROS_INFO("Visualizing plan2  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_2);

    }  

//closegrasp_right

grigoal_right.command.position = 0.03;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  r_group.setNamedTarget("right_grasp3");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3;

  bool success_right_grasp_3 = r_group.plan(right_grasp_plan_3);

  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_3);

    }

//zuobi1-2-3

  l_group.setNamedTarget("left_grasp1");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1;

  bool success_left_grasp_1 = l_group.plan(left_grasp_plan_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");  

  if(success_left_grasp_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_1);

    }

  l_group.setNamedTarget("left_grasp2");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2;

  bool success_left_grasp_2 = l_group.plan(left_grasp_plan_2);

  ROS_INFO("Visualizing plan2_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_2);

    }  

//closegrasp_left

grigoal_left.command.position = 0.03;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

  l_group.setNamedTarget("left_grasp3");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_3;

  bool success_left_grasp_3 = l_group.plan(left_grasp_plan_3);

  ROS_INFO("Visualizing plan3_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_3)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_3);

    }  

  sleep(1);

//youbi-4

  r_group.setNamedTarget("right_grasp4");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_4;

  bool success_right_grasp_4 = r_group.plan(right_grasp_plan_4);

  ROS_INFO("Visualizing plan4  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_4)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_4);

    }

  sleep(3);

//youbi-3

  r_group.setNamedTarget("right_grasp3");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3_1;

  bool success_right_grasp_3_1 = r_group.plan(right_grasp_plan_3_1);

  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_3_1);

    }

//youbi-2

  r_group.setNamedTarget("right_grasp2");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2_1;

  bool success_right_grasp_2_1 = r_group.plan(right_grasp_plan_2_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_2_1);

    }

//opengrasp-right

grigoal_right.command.position = 0.16;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//opengrasp

//youbi-1

  r_group.setNamedTarget("right_grasp1");

  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1_1;

  bool success_right_grasp_1_1 = r_group.plan(right_grasp_plan_1_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1_1)

    {

      sleep(1);

      r_group.execute(right_grasp_plan_1_1);

    }

//zoubi-2

  l_group.setNamedTarget("left_grasp2");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2_1;

  bool success_left_grasp_2_1 = l_group.plan(left_grasp_plan_2_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_2_1);

    }

  //opengrasp-left

grigoal_left.command.position = 0.16;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//zoubi-1

  l_group.setNamedTarget("left_grasp1");

  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1_1;

  bool success_left_grasp_1_1 = l_group.plan(left_grasp_plan_1_1);

  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_1_1)

    {

      sleep(1);

      l_group.execute(left_grasp_plan_1_1);

    }  

//dual-2

 group.setNamedTarget("plan_grasp");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1_1;

  bool success_upper_1_1 = group.plan(upperbody_plan_1_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1_1)

    {      

      group.execute(upperbody_plan_1_1);

    }  

  sleep(4);

//closegripper

//closegrasp_right

grigoal_right.command.position = 0.03;

ROS_INFO("Sending goal");

acr.sendGoal(grigoal_right);

acr.waitForResult();

if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//closegrasp_left

grigoal_left.command.position = 0.03;

ROS_INFO("Sending goal");

acl.sendGoal(grigoal_left);

acl.waitForResult();

if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)

ROS_INFO("You have reached the goal!");

else

ROS_INFO("The base failed for some reason");

//grasp

//dual-1

  group.setNamedTarget("homed_2");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0_1;

  bool success_upper_0_1 = group.plan(upperbody_plan_0_1);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0_1)

      group.execute(upperbody_plan_0_1);

  sleep(2);

//dual-0

  group.setNamedTarget("tucked");

  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0;

  bool success_upper_0 = group.plan(upperbody_plan_0);

  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0)

      group.execute(upperbody_plan_0);

   ros::shutdown();

  return 0;

}

其中，我們通過(guò)在moveit配置中預(yù)存了很多的位姿如:right_grasp1實(shí)現(xiàn)精準(zhǔn)控制。

通過(guò)使用此語(yǔ)句設(shè)定目標(biāo)并發(fā)送：r_group.setNamedTarget(“right_grasp1”);

位姿預(yù)存在/kinova-movo/movo_moveit_config/config/movo_kg2.srdf文件中。格式如下:

   <group_state name="plan_grasp" _cke_saved_name="plan_grasp" group="upper_body">

        <joint name="right_elbow_joint" _cke_saved_name="right_elbow_joint" value="2.28" />

        <joint name="right_shoulder_lift_joint" _cke_saved_name="right_shoulder_lift_joint" value="2.17" />

        <joint name="right_shoulder_pan_joint" _cke_saved_name="right_shoulder_pan_joint" value="-2.56" />

        <joint name="right_wrist_1_joint" _cke_saved_name="right_wrist_1_joint" value="-0.09" />

        <joint name="right_wrist_2_joint" _cke_saved_name="right_wrist_2_joint" value="0.15" />

        <joint name="right_wrist_3_joint" _cke_saved_name="right_wrist_3_joint" value="1.06" />

        <joint name="left_elbow_joint" _cke_saved_name="left_elbow_joint" value="-2.28" />

        <joint name="left_shoulder_lift_joint" _cke_saved_name="left_shoulder_lift_joint" value="-2.17" />

        <joint name="left_shoulder_pan_joint" _cke_saved_name="left_shoulder_pan_joint" value="2.56" />

        <joint name="left_wrist_1_joint" _cke_saved_name="left_wrist_1_joint" value="0.09" />

        <joint name="left_wrist_2_joint" _cke_saved_name="left_wrist_2_joint" value="-0.15" />

        <joint name="left_wrist_3_joint" _cke_saved_name="left_wrist_3_joint" value="2.06" />

        <joint name="linear_joint" _cke_saved_name="linear_joint" value="0.45" />

        <joint name="pan_joint" _cke_saved_name="pan_joint" value="0.0" /> 

        <joint name="tilt_joint" _cke_saved_name="tilt_joint" value="0.0" />         

    </group_state>

--------------------- 

作者：躍動(dòng)的風(fēng)  王憲偉  大連大華中天科技有限公司軟件開(kāi)發(fā)工程師

來(lái)源：CSDN 

原文：https://blog.csdn.net/qq_23670601/article/details/88712629 

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