ROS机器人开发实践

1.下载源代码

git clone https://github.com/huchunxu/ros_exploring.git

问题

ERROR: cannot launch node of type [arbotix_python/arbotix_driver]: arbotix_python
ROS path [0]=/opt/ros/melodic/share/ros

sudo apt-get install ros-melodic-arbotix

问题

 rosrun marm_planning moveit_ik_demo.py 

Traceback (most recent call last):
  File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 87, in <module>
    MoveItIkDemo()
  File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 65, in __init__
    arm.execute(traj)
  File "/home/hh/ws_moveit/src/moveit/moveit_commander/src/moveit_commander/move_group.py", line 685, in execute
    return self._g.execute(conversions.msg_to_string(plan_msg))
  File "/home/hh/ws_moveit/src/moveit/moveit_commander/src/moveit_commander/conversions.py", line 50, in msg_to_string
    msg.serialize(buf)
AttributeError: 'tuple' object has no attribute 'serialize'

我直接把这个功能包删除了 moveit_commander

Traceback (most recent call last):
  File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 87, in <module>
    MoveItIkDemo()
  File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 15, in __init__
    moveit_commander.roscpp_initialize(sys.argv)
AttributeError: 'module' object has no attribute 'roscpp_initialize'