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Kinova_MOVO机器人基本操作及机械臂倒水demo实现

分类：技术博客
发布时间：2020-06-21 00:00:00
访问量：0

概要:

详情

Kinova MOVO官网

Kinova参数页

1、MOVO安装教程

翻译自movo-github-wiki

MOVO开发硬件需求

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

软件安装

您需要安装几个开发包才能在MOVO上进行开发。一些包装属于Kinova外部开发包，其他的是Kinova专用开发包。如果您在安装Kinova开发包时遇到任何障碍，请在此处报告问题。对于任何专门针对外部库的问题，这些库的支持团队可能是获得修复的最佳选择。但是，我们很乐意回答您的任何问题，并提供有关您使用MOVO开发的任何问题的帮助。本节将指导您完成安装过程。

-有两种安装的方式：自动/手动

自动安装脚本使用方式：创建工作区并克隆kinova-movo库后，运行交互式bash脚本* setup_remote_pc *以自动执行安装。推荐采用自动方式。

手动安装方式具体见此处。

连接到MOVO平台

通过无线或有限两种方式连接到MOVO平台。

无线wifi(wifi名: MoVoWifi 密码: Welcome00)

通过SSH登陆到MOVO,ssh movo@10.66.171.1,登陆密码Welcome00。

若要将手柄连接到远程开发者电脑上使用，打开终端进行以下操作：

cd ~/movo_ws

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

roslaunch movo_remote_teleop movo_remote_teleop.launch

若要将手柄插在MOVO上使用，在远程开发者电脑上SSH登陆到MOVO后，执行以下操作：

cd ~/movo_ws

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

roslaunch movo_remote_teleop movo_remote_teleop.launch

２、MOVO机器人的基本使用

官方提供了以下功能：

建立远程开发者电脑与ＭOVO的连接

检测远程连接状态

使用真实机器人重新配置参数

查找Kinect序列号

为6自由度机械臂配置MOVO

-更新MOVO代码

-诊断MOVO启动问题

样例DEMO

使用真实机器人建图

使用真实机器人在rviz中导航地图

使用直接操作模式控制真实机器人

使用辅助操作模式控制真实机器人

使用仿真机器人建图

使用仿真机器人定位

3、制作倒水DEMO

基于Moveit对机械臂进行规划，具体学习可以参照此处:

通过c++接口调用Moveit进行编程

ros::actionlib动作服务器（action server）在动作客户端（action client）中的调用

ROS教程下载

以下为主程序

// movo_moveit_uoperbody.cpp

#include

//grasp

#include

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 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 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，我们通过在moveit配置中预存了很多的位姿如:right_grasp1实现精准控制。

通过使用此语句设定目标并发送：r_group.setNamedTarget(“right_grasp1”);

位姿预存在/kinova-movo/movo_moveit_config/config/movo_kg2.srdf文件中。格式如下:

---------------------

作者：跃动的风王宪伟 QY千亿球友会网站软件开发工程师

来源：CSDN

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

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