protobot_arm

protobot_arm_description:机械臂模型描述
protobot_gripper_description:机械手模型描述
protobot_arm_gripper_description:机械臂+手模型描述
protobot_arm_moveit_config:机械臂moveit功能包配置（客户端）
protobot_arm_gripper_moveit_config:机械臂+手moveit功能包配置（客户端）
protobot_arm_gripper_bringup:机械臂+手moveit服务器程序，用于连接客户端和真实机械臂
pd_drive:”舵机版机械手“的机械臂Due控制版Arduino程序
pt_drive:”步进版机械手“的机械臂Due控制版Arduino程序

准备工作

   sudo apt update
   sudo apt upgrade
   sudo apt-get install ros-melodic-moveit*

机械臂模型文件展示

Display in Rviz,使用滑块条拖动关节转动

roslaunch protobot_arm_gripper_description display.launch gui:=true  

Display in Gazebo，发布关节位置topic（命令行或rqt工具）

roslaunch protobot_arm_gripper_description gazebo.launch  
rostopic pub -1 /rot_joint_position_controller/command std_msgs/Float64 "data: 1.5"  

机械臂Moveit功能包demo

Moveit demo fake execution

roslaunch protobot_arm_gripper_moveit_config demo.launch   

Moveit demo execution in gazebo

roslaunch protobot_arm_gripper_moveit_config demo_gazebo.launch   

错误解决

sudo apt-get install ros-melodic-joint-trajectory-controller
sudo apt-get install ros-melodic-gripper-action-controller

真实机械臂Moveit控制

1. 下载pd_drive or pt_drive到机械臂控制器，将控制器USB口插入电脑
2. 校准机械臂

   roslaunch protobot_arm_gripper_bringup driver.launch  calibration:=true   
   roslaunch protobot_arm_gripper_bringup protobot_arm_gripper_bringup.launch calibration:=true  

   拖动滑块条使机械臂转动至竖直状态，然后Ctrl+C关闭上述两个程序
3. 控制机械臂运动

   roslaunch protobot_arm_gripper_bringup driver.launch   
   roslaunch protobot_arm_gripper_bringup protobot_arm_gripper_bringup.launch  

使用python程序控制机械臂运动

rosrun protobot_arm_gripper_moveit_config move_group_python_interface.py