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ROS2 机械臂操作技能。MoveIt 2、运动规划、抓取规划、逆运动学、笛卡尔规划。当用户提到 MoveIt、机械臂、抓取、IK、URDF、joint_trajectory、planning scene 时使用。
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| name | ros2-manipulation |
| description | ROS2 机械臂操作技能。MoveIt 2、运动规划、抓取规划、逆运动学、笛卡尔规划。当用户提到 MoveIt、机械臂、抓取、IK、URDF、joint_trajectory、planning scene 时使用。 |
| user-invocable | false |
| category | domain |
机械臂运动规划、抓取、操作任务。
[move_group] (核心节点)
├── [Planning Pipeline] (OMPL/CHOMP/STOMP)
├── [Planning Scene] (碰撞检测)
├── [Trajectory Execution] (FollowJointTrajectory Action)
└── [Robot State] (joint_states)
ros2 launch <robot>_moveit_config demo.launch.py
<robot name="my_robot">
<link name="base_link">
<visual>
<geometry><cylinder length="0.1" radius="0.05"/></geometry>
</visual>
<collision>
<geometry><cylinder length="0.1" radius="0.05"/></geometry>
</collision>
<inertial>
<mass value="1.0"/>
<inertia ixx="0.01" iyy="0.01" izz="0.01" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<parent link="base_link"/>
<child link="link1"/>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-3.14" upper="3.14" effort="10" velocity="1.0"/>
</joint>
</robot>
<robot name="my_robot">
<group name="arm">
<chain base_link="base_link" tip_link="end_effector"/>
</group>
<group_state name="home" group="arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="-1.57"/>
</group_state>
</robot>
#include <moveit/move_group_interface/move_group_interface.h>
auto move_group = std::make_shared<moveit::planning_interface::MoveGroupInterface>(
node, "arm");
// 设置目标位姿
geometry_msgs::msg::Pose target;
target.position.x = 0.5;
target.position.y = 0.0;
target.position.z = 0.5;
target.orientation.w = 1.0;
move_group->setPoseTarget(target);
// 规划
moveit::planning_interface::MoveGroupInterface::Plan plan;
auto success = (move_group->plan(plan) ==
moveit::core::MoveItErrorCode::SUCCESS);
if (success) {
move_group->execute(plan);
}
std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(start_pose);
waypoints.push_back(mid_pose);
waypoints.push_back(end_pose);
moveit_msgs::msg::RobotTrajectory trajectory;
double fraction = move_group->computeCartesianPath(
waypoints, 0.01, 0.0, trajectory);
if (fraction > 0.95) {
move_group->execute(trajectory);
}
from pymoveit2 import MoveIt2
from rclpy.executors import MultiThreadedExecutor
moveit2 = MoveIt2(
node=node,
joint_names=["joint1", "joint2", "joint3"],
base_link_name="base_link",
end_effector_name="end_effector",
group_name="arm",
)
# 关节空间运动
moveit2.move_to_configuration([0.0, -1.57, 0.0])
moveit2.wait_until_executed()
# 笛卡尔运动
moveit2.move_to_pose(
position=[0.5, 0.0, 0.5],
quat_xyzw=[0.0, 0.0, 0.0, 1.0],
cartesian=True,
)
moveit_msgs::msg::Grasp grasp;
grasp.grasp_pose.header.frame_id = "base_link";
grasp.grasp_pose.pose.position.x = 0.5;
grasp.grasp_pose.pose.position.y = 0.0;
grasp.grasp_pose.pose.position.z = 0.3;
// 接近
grasp.pre_grasp_approach.direction.vector.z = -1.0;
grasp.pre_grasp_approach.min_distance = 0.05;
grasp.pre_grasp_approach.desired_distance = 0.1;
// 抓取后撤
grasp.post_grasp_retreat.direction.vector.z = 1.0;
grasp.post_grasp_retreat.min_distance = 0.05;
grasp.post_grasp_retreat.desired_distance = 0.15;
move_group->pick("target_object", {grasp});
moveit_msgs::msg::CollisionObject obj;
obj.header.frame_id = "base_link";
obj.id = "table";
shape_msgs::msg::SolidPrimitive box;
box.type = box.BOX;
box.dimensions = {1.0, 1.0, 0.05};
obj.primitives.push_back(box);
geometry_msgs::msg::Pose pose;
pose.position.z = -0.025;
pose.orientation.w = 1.0;
obj.primitive_poses.push_back(pose);
obj.operation = obj.ADD;
moveit::planning_interface::PlanningSceneInterface psi;
psi.applyCollisionObject(obj);
| 规划器 | 类型 | 特点 |
|---|---|---|
| OMPL/RRTConnect | 采样 | 默认,快速找解 |
| OMPL/RRTstar | 采样 | 渐近最优 |
| CHOMP | 优化 | 平滑轨迹 |
| STOMP | 优化 | 处理硬约束 |
| Pilz | 工业 | 直线/圆弧/PTP |
# 可视化规划场景
rviz2 -d moveit.rviz
# 查看规划组
ros2 topic echo /move_group/planning_scene
# 监控执行状态
ros2 topic echo /joint_trajectory_controller/state