ROS MoveIt Robotic Arm: 4 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Qhov no yuav yog kab lus hais txog kev ua caj npab neeg hlau tswj nrog ROS (Robotic Operating System) thiab MoveIt. Yog tias koj nkag mus rau hauv neeg hlau ROS yog lub hauv paus zoo uas yuav pab koj tsim cov neeg hlau zoo dua sai dua. Nws tso cai rau koj rov siv pob khoom rau cov neeg hlau sib txawv (lub zeem muag computer, kinematics, txoj kev npaj, SLAM, thiab lwm yam) uas lwm tus neeg tsim. ROS yog qhov zoo, tab sis hmoov tsis nws muaj qhov nkhaus kev kawm nkhaus.

Yog li qhov kev qhia no yog cov lus qhia ib qib zuj zus txhawm rau ua rau koj thawj tus neeg hlau caj npab nrog phiaj xwm phiaj xwm, tsom mus rau theem pib-theem pib thiab theem nrab. Kuv xav tias koj tsis muaj kev paub txog ROS, tab sis muaj qee qhov kev paub yooj yim Linux thiab Python, Arduino cov txuj ci txuj ci.

Kauj Ruam 1: Npaj Koj Ib puag ncig

Kuv ib puag ncig rau kev txhim kho yog Ubuntu 16.04 LTS khiav hauv Virtual Box (Windows 10 host machine). Yog tias koj xav khiav Ubuntu ntawm VM nws zoo, Kuv tuaj yeem lees paub ROS Kinetic ua haujlwm, txawm tias muaj qee qhov txawv (tshwj xeeb tshaj yog 3D nrawm dua thiab txhawb nqa USB). Yog tias koj muaj kev txhim kho Ubuntu niaj hnub, nws yuav ua haujlwm zoo dua.

Nco tseg: Koj tuaj yeem nruab ROS ntawm Raspberry Pi, tab sis hmoov tsis nws tsis muaj zog txaus los ua qhov simulation hauv Rviz, cia nyob ib leeg Gazebo.

1) Nruab ROS Kinetic. Ua raws li phau ntawv qhia no yuav ua li cas rau nruab ROS Kinetic ntawm Ubuntu 16.04.

2) Nruab MoveIt. MoveIt! yog pob rau ROS rau kev siv xov tooj ntawm tes, piv txwv li neeg hlau caj npab.

3) Txheeb xyuas tias txhua yam ua haujlwm. Khiav

roslaunch panda_moveit_config demo.launch rviz_tutorial: = muaj tseeb

yog tias koj xav tau, mus dhau ntawm kev qhia txav chaw

4) Koj yuav tsum tau teeb tsa urdf_tutorial pob ib yam, peb yuav siv nws los pom peb txoj haujlwm ua tiav.

sudo apt-tau nruab ros-kinetic-urdf-tutorial

Kauj Ruam 2: Tsim Urdf Cov Ntaub Ntawv

Yog tias koj ua raws MoveIt kev qhia pib sai koj yuav tsum tau tsim chaw ua haujlwm catkin hauv koj phau ntawv teev npe hauv tsev (lub npe ntawm chaw ua haujlwm yuav txawv, lub neej ntawd los ntawm kev qhia txav yog ws_moveit). Mus rau ~ ws_moveit/src thiab clone kuv github repo nyob ntawd.

github.com/AIWintermuteAI/ros-moveit-arm.git

Yog tias koj siv tib tus neeg hlau caj npab ib yam li kuv ua lossis tsuas yog xav xyaum koj tuaj yeem tso cov ntawv urdf tsis hloov pauv, txwv tsis pub koj yuav xav hloov nws kom haum raws tus qauv caj npab uas koj muaj.

Nov yog cov lus piav qhia luv luv ntawm urdf cov ntaub ntawv, saib kuv tus piv txwv thiab tus qauv neeg hlau hauv rviz yuav pab koj kom nkag siab nws zoo dua thiab thov sau koj li urdf cov ntaub ntawv

txuas yog ib feem ntawm tus neeg hlau, zoo li lub dab teg lossis lub platform. Lawv muaj cov khoom hauv qab no:

siv rau kev sawv cev pom hauv rviz thiab gazebo. Siv cov cuab yeej zoo

siv rau kev tshuaj xyuas kev sib tsoo thaum npaj txoj kev. Pom zoo kom siv cov ntxaij lim dej tsis zoo, tab sis rau kev qhia paub kuv siv tib yam li rau kev pom.

pob qij txha hauv urdf yog kev sib txuas ntawm cov kab txuas uas piav qhia txog qhov sib txawv nyob rau hauv kev sib raug zoo thiab lawv txav mus li cas. Lawv muaj cov khoom hauv qab no:

kev sib hloov ntawm kev sib koom tes (nrog x, y lossis z axis)

yam tsawg kawg nkaus thiab qib siab tshaj plaws ntawm kev sib koom ua ke hauv radians. Tsuas yog siv rau "ntxeev siab" hom pob qij txha ("txuas ntxiv" pob qij txha tsis muaj kev txwv, txij li lawv, zoo, tig tsis tu ncua)

txoj hauj lwm ntawm kev sib koom tes nrog rau keeb kwm

piav qhia qhov twg ob qhov txuas txuas nrog ua ke

Yog tias koj siv tib tus neeg hlau caj npab ib yam li kuv ua, koj yuav tsum theej 3D meshes ntawm caj npab rau urdf_tutorial pob ntawv tais ceev tseg. Ua nws nrog cov lus txib no

sudo cp/opt/ros/kinetic/share/urdf_tutorial/meshes/

Yog tias koj siv koj tus kheej lub meshes kom ntseeg tau tias lawv tau nyob ib puag ncig keeb kwm (xyz 000 hauv koj qhov kev nyiam ua qauv 3D) ua ntej koj xa lawv mus rau binary (!) Stl hom ntawv.

Tam sim no koj tuaj yeem tso tawm rviz kom pom cov txiaj ntsig nrog cov lus txib no

roslaunch urdf_tutorial display.launch qauv: = arm.urdf

(tso nws los ntawm daim nplaub tshev nrog cov ntawv urdf koj tau tsim tam sim no)

Txheeb xyuas cov pob qij txha thiab cov ntawv txuas, xyuas kom lawv tig thiab tso raws qhov lawv xav tau. Yog tias txhua yam zoo, txav mus rau qib tom ntej.

Kauj Ruam 3: Tsim Neeg Hlau Kho Kom Zoo Nrog MoveIt Teeb Tus Pabcuam

Tam sim no thaum koj cov ntaub ntawv urdf tau npaj tiav nws yog lub sijhawm los hloov nws mus rau cov txheej txheem txheej txheem neeg hlau.

Tua tawm MoveIt Teeb Pab nrog cov lus txib hauv qab no

roslaunch moveit_setup_assistant setup_assistant.launch

Cov txheej txheem tau piav qhia zoo heev hauv MoveIt kev qhia ua haujlwm, uas koj tuaj yeem pom ntawm no

Tom qab koj tsim cov pob teeb tsa, mus rau koj lub catkin chaw ua haujlwm nplaub tshev thiab ua tiav

ua catkin

los tsim cov pob. Tam sim no koj tuaj yeem tso nws nrog cov lus txib hauv qab no

roslaunch my_arm_xacro demo.launch rviz_tutorial: = muaj tseeb

qhov twg koj yuav xav hloov "my_arm_xacro" rau lub npe ntawm koj pob.

Kauj ruam 4: Ua tiav

Yog tias koj ua tiav lub pob koj yuav pom koj tus qauv neeg hlau nrog cov cim sib tham sib. Koj yuav tuaj yeem tswj nws hauv kev sim, siv cov cim thiab tom qab ntawd nyem "Npaj thiab ua" rau kinematic solver txhawm rau nrhiav txoj hauv kev kom raug rau lub xeev xav tau.

Qhov ntawd yog qib ib, peb tsim tus qauv ntawm peb cov neeg hlau caj npab thiab tuaj yeem sau lub zog ntawm ROS los xam thiab ua cov lus tsa suab hauv kev sim! Cov kauj ruam tom ntej - ua nws nrog tus neeg hlau tiag, rau qhov peb yuav xav sau cov neeg hlau yooj yim tswj …