机械臂全面学习---moveit和gazebo联合仿真

1、修改XXX.moveit_config/config/ros_controllers.yaml

# MoveIt-specific simulation settings
moveit_sim_hw_interface:
  joint_model_group: controllers_initial_group_
  joint_model_group_pose: controllers_initial_pose_
# Settings for ros_control control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - magician_joint1
    - magician_joint2
    - magician_joint3
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: magician_arm_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - magician_joint1
      - magician_joint2
      - magician_joint3

2、修改XXX.moveit_config/launch/ros_controllers.yaml

3、修改XXX.moveit_config/launch/moveit_rviz.launch

4、在XXX.moveit_config/launch/move_group.launch修改一点小细节

5、修改trajectory_execution.launch.xml

6、创建magician_moveit_controller_manager.launch.xml文件，并且启动ros_controllers.yaml

7、新建一个功能包，里面放置启动文件

最后编译一下，启动launch文件。

 

 到这里moveit和gazebo的联动到此结束。

我们通过以上部分举一反三，其他的机械臂在moveit和gazebo联动时也是这样配置的。