DOBOT magician魔术师在ROS下使用moveit编写代码控制（笛卡尔空间控制走直线）

C++ 版
 

#include 
#include 
#include 

int main(int argc, char **argv)
{
	ros::init(argc, argv, "magician_moveit_cartesian_demo");
	ros::AsyncSpinner spinner(1);
	spinner.start();

    moveit::planning_interface::MoveGroupInterface arm("magician_arm");

    //获取终端link的名称
    std::string end_effector_link = arm.getEndEffectorLink();

    //设置目标位置所使用的参考坐标系
    std::string reference_frame = "magician_origin";
    arm.setPoseReferenceFrame(reference_frame);

    //当运动规划失败后，允许重新规划
    arm.allowReplanning(true);

    //设置位置(单位：米)和姿态（单位：弧度）的允许误差
    arm.setGoalPositionTolerance(0.001);
    arm.setGoalOrientationTolerance(0.01);

    //设置允许的最大速度和加速度
    arm.setMaxAccelerationScalingFactor(0.2);
    arm.setMaxVelocityScalingFactor(0.2);

    // 控制机械臂先回到初始化位置
    arm.setNamedTarget("home");
    arm.move();
    sleep(1);

    // 获取当前位姿数据最为机械臂运动的起始位姿
    geometry_msgs::Pose start_pose = arm.getCurrentPose(end_effector_link).pose;

	std::vector waypoints;

    //将初始位姿加入路点列表
	waypoints.push_back(start_pose);
	
    start_pose.position.z -= 0.093;
	waypoints.push_back(start_pose);

    start_pose.position.x += 0.04;
	waypoints.push_back(start_pose);

    start_pose.position.y += 0.04;
	waypoints.push_back(start_pose);

    start_pose.position.x -= 0.04;
    start_pose.position.y -= 0.04;
	waypoints.push_back(start_pose);    

	// 笛卡尔空间下的路径规划
	moveit_msgs::RobotTrajectory trajectory;
	const double jump_threshold = 0.0;
	const double eef_step = 0.005;
	double fraction = 0.0;
    int maxtries = 100;   //最大尝试规划次数
    int attempts = 0;     //已经尝试规划次数

    while(fraction < 1.0 && attempts < maxtries)
    {
        fraction = arm.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
        attempts++;
        
        if(attempts % 10 == 0)
            ROS_INFO("Still trying after %d attempts...", attempts);
    }
    
    if(fraction == 1)
    {   
        ROS_INFO("Path computed successfully. Moving the arm.");

	    // 生成机械臂的运动规划数据
	    moveit::planning_interface::MoveGroupInterface::Plan plan;
	    plan.trajectory_ = trajectory;

	    // 执行运动
	    arm.execute(plan);
        sleep(1);
    }
    else
    {
        ROS_INFO("Path planning failed with only %0.6f success after %d attempts.", fraction, maxtries);
    }

    // 控制机械臂先回到初始化位置
    arm.setNamedTarget("home");
    arm.move();
    sleep(1);

	ros::shutdown(); 
	return 0;
}

 

#include 
#include 
#include 

int main(int argc, char **argv)
{
	ros::init(argc, argv, "magician_moveit_cartesian_demo");
	ros::AsyncSpinner spinner(1);
	spinner.start();

    moveit::planning_interface::MoveGroupInterface arm("magician_arm");

    //获取终端link的名称
    std::string end_effector_link = arm.getEndEffectorLink();

    //设置目标位置所使用的参考坐标系
    std::string reference_frame = "magician_origin";
    arm.setPoseReferenceFrame(reference_frame);

    //当运动规划失败后，允许重新规划
    arm.allowReplanning(true);

    //设置位置(单位：米)和姿态（单位：弧度）的允许误差
    arm.setGoalPositionTolerance(0.001);
    arm.setGoalOrientationTolerance(0.01);

    //设置允许的最大速度和加速度
    arm.setMaxAccelerationScalingFactor(0.2);
    arm.setMaxVelocityScalingFactor(0.2);

    // 控制机械臂先回到初始化位置
    arm.setNamedTarget("home");
    arm.move();
    sleep(1);

    // 获取当前位姿数据最为机械臂运动的起始位姿
    geometry_msgs::Pose start_pose = arm.getCurrentPose(end_effector_link).pose;

	std::vector waypoints;


    //将初始位姿加入路点列表
	waypoints.push_back(start_pose);

        geometry_msgs::Pose pose1;
        geometry_msgs::Pose pose2;	
        pose1.position.x = 0.1659;
	pose1.position.y = 0.0000;	
	pose1.position.z = -0.027;
	pose1.orientation.x = 0.0;
	pose1.orientation.y = 0.0;
	pose1.orientation.z = 0.0;
	pose1.orientation.w = 1.0;
	waypoints.push_back(pose1);

        pose2.position.x = 0.200;
	pose2.position.y = 0.048;	
	pose2.position.z = -0.027;
	pose2.orientation.x = 0.0;
	pose2.orientation.y = 0.0;
	pose2.orientation.z = 0.0;
	pose2.orientation.w = 1.0;
	waypoints.push_back(pose2);


	// 笛卡尔空间下的路径规划
	moveit_msgs::RobotTrajectory trajectory;
	const double jump_threshold = 0.0;
	const double eef_step = 0.0002;
	double fraction = 0.0;
    int maxtries = 100;   //最大尝试规划次数
    int attempts = 0;     //已经尝试规划次数

    while(fraction < 1.0 && attempts < maxtries)
    {
        fraction = arm.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
        attempts++;
        
        if(attempts % 10 == 0)
            ROS_INFO("Still trying after %d attempts...", attempts);
    }
    
    if(fraction == 1)
    {   
        ROS_INFO("Path computed successfully. Moving the arm.");

	    // 生成机械臂的运动规划数据
	    moveit::planning_interface::MoveGroupInterface::Plan plan;
	    plan.trajectory_ = trajectory;

	    // 执行运动
	    arm.execute(plan);
        sleep(1);
    }
    else
    {
        ROS_INFO("Path planning failed with only %0.6f success after %d attempts.", fraction, maxtries);
    }

    // 控制机械臂先回到初始化位置
    arm.setNamedTarget("home");
    arm.move();
    sleep(1);

	ros::shutdown(); 
	return 0;
}

Python版

$ rosrun probot_demo moveit_cartesian_demo.py _cartesian:=False  走自由路径

$ rosrun probot_demo moveit_cartesian_demo.py _cartesian:=True    走直线

代码：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy, sys
import moveit_commander
from moveit_commander import MoveGroupCommander
from geometry_msgs.msg import Pose
from copy import deepcopy

class MoveItCartesianDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)

        # 初始化ROS节点
        rospy.init_node('magician_moveit_cartesian_demo', anonymous=True)

        # 是否需要使用笛卡尔空间的运动规划
        cartesian = rospy.get_param('~cartesian', True)
                      
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = MoveGroupCommander('magician_arm')
        
        # 当运动规划失败后，允许重新规划
        arm.allow_replanning(True)
        
        # 设置目标位置所使用的参考坐标系
        arm.set_pose_reference_frame('magician_origin')
                
        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
        arm.set_goal_position_tolerance(0.001)
        arm.set_goal_orientation_tolerance(0.001)
        
        # 设置允许的最大速度和加速度
        arm.set_max_acceleration_scaling_factor(0.5)
        arm.set_max_velocity_scaling_factor(0.5)
        
        # 获取终端link的名称
        end_effector_link = arm.get_end_effector_link()

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
                                               
        # 获取当前位姿数据最为机械臂运动的起始位姿
        start_pose = arm.get_current_pose(end_effector_link).pose
                
        # 初始化路点列表
        waypoints = []

        # 将初始位姿加入路点列表
        if cartesian:
            waypoints.append(start_pose)
            
        # 设置路点数据，并加入路点列表
        wpose = deepcopy(start_pose)
        wpose.position.z -= 0.093

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        wpose.position.x += 0.04

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)
        
        wpose.position.y += 0.04

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        wpose.position.x -= 0.04
        wpose.position.y -= 0.04

        if cartesian:
            waypoints.append(deepcopy(wpose))
        else:
            arm.set_pose_target(wpose)
            arm.go()
            rospy.sleep(1)

        if cartesian:
		fraction = 0.0   #路径规划覆盖率
		maxtries = 100   #最大尝试规划次数
		attempts = 0     #已经尝试规划次数
		
		# 设置机器臂当前的状态作为运动初始状态
		arm.set_start_state_to_current_state()
	 
		# 尝试规划一条笛卡尔空间下的路径，依次通过所有路点
		while fraction < 1.0 and attempts < maxtries:
		    (plan, fraction) = arm.compute_cartesian_path (
		                            waypoints,   # waypoint poses，路点列表
		                            0.005,        # eef_step，终端步进值
		                            0.0,         # jump_threshold，跳跃阈值
		                            True)        # avoid_collisions，避障规划
		    
		    # 尝试次数累加
		    attempts += 1
		    
		    # 打印运动规划进程
		    if attempts % 10 == 0:
		        rospy.loginfo("Still trying after " + str(attempts) + " attempts...")
		             
		# 如果路径规划成功（覆盖率100%）,则开始控制机械臂运动
		if fraction == 1.0:
		    rospy.loginfo("Path computed successfully. Moving the arm.")
		    arm.execute(plan)
		    rospy.loginfo("Path execution complete.")
		# 如果路径规划失败，则打印失败信息
		else:
		    rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.")  

		rospy.sleep(1)

        # 控制机械臂先回到初始化位置
        arm.set_named_target('home')
        arm.go()
        rospy.sleep(1)
        
        # 关闭并退出moveit
        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    try:
        MoveItCartesianDemo()
    except rospy.ROSInterruptException:
        pass