实验6 蓝桥ROS1使用moveit 适用kinetic/melodic/noetic

此部分案例可以用工业机器人相关实验路径规划替代。

ROS-Industrial 发行版包含六个主流工业供应商的元包，更多信息可以在支持的硬件页面上找到。

1. ABB
2. Fanuc
3. Kuka
4. Motoman
5. Robotiq
6. Universal Robots

wiki.ros.org/Industrial

以ABB为例：

​​2016 ☞ ROS连接ABB机械臂调试详细教程​​ 

​​2021 ☞ ABB之ROS功能更新​​ 

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内容：机械臂、体系结构、简单运动规划、抓取放置任务

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记录：

安装moveit等功能包：

1. sudo apt install ros-kinetic-moveit*
2. sudo apt install ros-kinetic-abb*
3. sudo apt install ros-kinetic-ur-e-gazebo ros-kinetic-ur-e-description

此处依据需要安装。

1. ABB
2. Fanuc
3. Kuka
4. Motoman
5. Robotiq
6. Universal Robots

都有对应安装包。

roslaunch abb_irb2400_moveit_config demo.launch

roslaunch abb_irb6640_moveit_config demo.launch 

 

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思考：

1. 尝试加载多种工业机器人模型；

2. 使用其他仿真工具如下：

​​蓝桥ROS机器人之v-rep_pro_edu_v3_6_2​​

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1  gedit ros.asc
    2  sudo apt-key add ros.asc
    3  sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
    4  sudo apt update
    5  sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
    6  sudo apt update
    7  sudo apt install ros-kinetic-moveit*
    8  sudo apt install ros-kinetic-abb*
    9  sudo apt install ros-kinetic-ur-e-gazebo ros-kinetic-ur-e-description
   10  history
   11  roslaunch ur_e_gazebo ur3e.launch
   12  sudo apt upgrade
   13  sudo apt update
   14  sudo apt upgrade
   15  roslaunch ur_e_gazebo ur3e.launch
   16  roslaunch abb_irb2400_moveit_config warehouse.launch
   17  roslaunch abb_irb2400_moveit_config demo.launch
   18  history
   19  roslaunch abb_irb6640_moveit_config demo.launch
   20  roslaunch ur_e_description ur5e_upload.launch
   21  rviz
   22  roslaunch ur_e_description view_ur10e.launch
   23  roslaunch ur_e_description view_ur5e.launch
   24  roslaunch pr2_moveit_config demo.launch
   25  roslaunch pr2_moveit_config setup_assistant.launch
   26  history
   27  roslaunch abb_irb4400_support robot_state_visualize_irb4400l_30_243.launch
   28  roslaunch ur_e_gazebo ur3e_joint_limited.launch