点此下载源码
参考网页:Tutorial: ROS Control
通过使用控制器驱动机器人的关节,为MoveIt!等规划器提供一个准确的ROS接口。将使用ros_control包。
在Gazebo中进行控制器的仿真,可以利用ros_control和简单的Gazebo插件来实现。各相关组件的关系参考下图
参考Using URDF in Gazebo建立一个RRBot机器人模型。
主要教程目录参考如下
将驱动器与关节相连接。
<robot>
...
<transmission name="tran1">
<type>transmission_interface/SimpleTransmissiontype>
<joint name="joint1">
<hardwareInterface>hardware_interface/EffortJointInterfacehardwareInterface>
joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/EffortJointInterfacehardwareInterface>
<mechanicalReduction>1mechanicalReduction>
actuator>
transmission>
<transmission name="tran2">
<type>transmission_interface/SimpleTransmissiontype>
<joint name="joint2">
<hardwareInterface>hardware_interface/EffortJointInterfacehardwareInterface>
joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/EffortJointInterfacehardwareInterface>
<mechanicalReduction>1mechanicalReduction>
actuator>
transmission>
robot>
<robot>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/rrbotrobotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSimrobotSimType>
plugin>
gazebo>
robot>
rrbot:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint1_position_controller:
type: effort_controllers/JointPositionController
joint: joint1
pid: {p: 100.0, i: 0.01, d: 10.0}
joint2_position_controller:
type: effort_controllers/JointPositionController
joint: joint2
pid: {p: 100.0, i: 0.01, d: 10.0}
<launch>
<rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/rrbot" args="joint1_position_controller joint2_position_controller joint_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/rrbot/joint_states" />
node>
launch>
开始RRBot机器人仿真
roslaunch rrbot_gazebo rrbot_world.launch
加载两关节控制器
roslaunch rrbot_control rrbot_control.launch
使用service手动调用控制器
rosservice call /rrbot/controller_manager/load_controller "name: 'joint1_position_controller'"
rosservice call /rrbot/controller_manager/load_controller "name: 'joint2_position_controller'"
启动控制器
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: ['joint1_position_controller','joint2_position_controller'], stop_controllers: [], strictness: 2}"
停止控制器
rosservice call /rrbot/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint1_position_controller','joint2_position_controller'], strictness: 2}"
手动发送命令
rostopic pub -1 /rrbot/joint1_position_controller/command std_msgs/Float64 "data: 1.5"
rostopic pub -1 /rrbot/joint2_position_controller/command std_msgs/Float64 "data: 1.0"
使用rqt工具
rosrun rqt_gui rqt_gui
已经配置好的一个RQT
roslaunch rrbot_control rrbot_rqt.launch
与RVIZ建立连接
rosrun rviz rviz
添加“RobotModel”