Moveit2 automaticaddison mycobot_ros2 代码讲解

github地址https://github.com/automaticaddison/mycobot_ros2/tree/jazzy一.mycobot_moveit_config1.moveit2基本控制在mycobot_moveit_config下面创建config/mycobot_280initial_positions.yaml 定义了机械臂所有关节的初始位置joint_limits.yaml定义每个关节的物理限制包括角度范围、最大速度、最大加速度等。kinematics.yaml配置运动学求解器的参数比如使用哪种逆运动学算法、求解器的超时时间、尝试次数等。moveit_controllers.yaml 指定使用了哪些控制器mycobot_280.srdf 语义机器人描述格式urdf的补充pilz_cartesian_limits.yaml专门为Pilz 工业运动规划器设置的笛卡尔空间限制比如末端执行器的最大线速度、加速度、圆弧运动的约束等。ros2_controllers.yaml/ros2_controllers_template.yaml ros2控制器的指定配置文件ompl_planning.yaml配置OMPLOpen Motion Planning Library运动规划器的参数pilz_industrial_motion_planner_planning.yamlPilz 工业规划器的专属配置支持工业场景中常用的直线LIN、圆弧CIRC、点到点PTP运动指令定义这些运动模式的默认参数和约束。stomp_planning.yaml配置STOMPStochastic Trajectory Optimization for Motion Planning轨迹优化器的参数用于对初步规划出的路径进行平滑优化让机械臂的运动更平稳、减少冲击。2.setup_assistant必须加上这个助手文件 这个moveit_setup_assistant_config: #指定urdf文件 URDF: package: mycobot_description relative_path: urdf/robots/mycobot_280.urdf.xacro SRDF: #指定srdf语义文件 relative_path: config/mycobot_280/mycobot_280.srdf CONFIG: author_name: AutomaticAddison author_email: addisontodo.com generated_timestamp: 1734048000二.执行脚本执行脚本的路径位于mycobot_bringup/scripts/mycobot_280_gazebo_and_moveit.sh我将带领大家从运行脚本逆向理解整体的流程我会写入每行脚本代码的解释#!/bin/bash # Single script to launch the mycobot with Gazebo, RViz, and MoveIt 2 #当执行crtlc的时候会执行这个函数关闭所有 ROS/Gazebo 程序 cleanup() { echo Cleaning up... sleep 5.0 pkill -9 -f ros2|gazebo|gz|nav2|amcl|bt_navigator|nav_to_pose|rviz2|assisted_teleop|cmd_vel_relay|robot_state_publisher|joint_state_publisher|move_to_free|mqtt|autodock|cliff_detection|moveit|move_group|basic_navigator } # Set up cleanup trap #捕获crtlc的退出信号 trap cleanup SIGINT SIGTERM echo Launching Gazebo simulation... #运行gazebo的launch文件 ros2 launch mycobot_gazebo mycobot.gazebo.launch.py \ load_controllers:true \ world_file:pick_and_place_demo.world \ use_camera:true \ use_rviz:false \ use_robot_state_pub:true \ use_sim_time:true \ x:0.0 \ y:0.0 \ z:0.03 \ roll:0.0 \ pitch:0.0 \ yaw:0.0 sleep 15 #启动 MoveIt2 运动规划 ros2 launch mycobot_moveit_config move_group.launch.py echo Adjusting camera position... #. 自动调整 Gazebo 相机视角 gz service -s /gui/move_to/pose --reqtype gz.msgs.GUICamera --reptype gz.msgs.Boolean --timeout 2000 --req pose: {position: {x: 1.36, y: -0.58, z: 0.95} orientation: {x: -0.26, y: 0.1, z: 0.89, w: 0.35}} # Keep the script running until CtrlC #保持脚本运行直到 CtrlC wait三.解析mycobot_gazebo/launch/mycobot.gazebo.launch.py1. 首先讲解这个 default_ros_gz_bridge_config_file_path路径下面的ros_gz_bridge.yaml文件这个文件 完成的内容如下说白了就是gazebo和ros2的消息格式不一样互转一下gz_topic_name: camera_head/camera_infoGazebo 仿真里相机发布的话题叫这个。ros_topic_name: camera_head/depth/camera_info我要把它转发到 ROS2并改名叫这个。ros_type_name / gz_type_name两边消息类型不一样自动帮你转换格式。direction: GZ_TO_ROS方向Gazebo → ROS2单向转发lazy: true只有 ROS2 有人订阅时才转发省电、省性能。2.中间就是一堆声明配置参数的3.下面是启动robot_state_publisher.launch.pyrobot_state_publisher_cmd IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(pkg_share_description, launch, robot_state_publisher.launch.py) ]), launch_arguments{ jsp_gui: jsp_gui, use_camera: use_camera, use_gazebo: use_gazebo, use_rviz: use_rviz, use_sim_time: use_sim_time }.items(), conditionIfCondition(use_robot_state_pub) )3.1解析robot_state_publisher.launch.py1.先讲解一个函数PathJoinSubstitution 和os.path.jion一样为ros2专用的路径拼接的函数default_urdf_model_path PathJoinSubstitution([pkg_share_description, urdf, robots, urdf_filename])default_rviz_config_path PathJoinSubstitution([pkg_share_description, rviz, rviz_config_filename])2.xacro - urdf函数相当于在终端执行了以下这样的命令把xacro文件转换为urdf文件然后把在终端输出的内容即urdf文件保存到robot_description_content变量里面xacro 你的文件.xacro use_camera:true ...robot_description_content ParameterValue(Command([ xacro, , urdf_model, , robot_name:, LaunchConfiguration(robot_name), , prefix:, LaunchConfiguration(prefix), , add_world:, LaunchConfiguration(add_world), , base_link:, LaunchConfiguration(base_link), , base_type:, LaunchConfiguration(base_type), , flange_link:, LaunchConfiguration(flange_link), , gripper_type:, LaunchConfiguration(gripper_type), , use_camera:, LaunchConfiguration(use_camera), , use_gazebo:, LaunchConfiguration(use_gazebo), , use_gripper:, LaunchConfiguration(use_gripper) ]), value_typestr)3.下面就是一堆启动节点的函数start_robot_state_publisher_cmd Node( packagerobot_state_publisher, executablerobot_state_publisher, namerobot_state_publisher, outputscreen, parameters[{ use_sim_time: use_sim_time, robot_description: robot_description_content}]) # Publish the joint state values for the non-fixed joints in the URDF file. start_joint_state_publisher_cmd Node( packagejoint_state_publisher, executablejoint_state_publisher, namejoint_state_publisher, parameters[{use_sim_time: use_sim_time}], conditionIfCondition(use_jsp)) # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui start_joint_state_publisher_gui_cmd Node( packagejoint_state_publisher_gui, executablejoint_state_publisher_gui, namejoint_state_publisher_gui, parameters[{use_sim_time: use_sim_time}], conditionIfCondition(jsp_gui)) # Launch RViz start_rviz_cmd Node( conditionIfCondition(use_rviz), packagerviz2, executablerviz2, outputscreen, arguments[-d, rviz_config_file], parameters[{use_sim_time: use_sim_time}])3.2解析load_ros2_controllers.launch.py这个launch文件主要用于激活src/mycobot_ros2/mycobot_moveit_config/config/mycobot_280/ros2_controllers.yaml的各种控制器start_arm_controller_cmd ExecuteProcess( cmd[ros2, control, load_controller, --set-state, active, arm_controller], outputscreen) # Start gripper action controller start_gripper_action_controller_cmd ExecuteProcess( cmd[ros2, control, load_controller, --set-state, active, gripper_action_controller], outputscreen) # Launch joint state broadcaster start_joint_state_broadcaster_cmd ExecuteProcess( cmd[ros2, control, load_controller, --set-state, active, joint_state_broadcaster], outputscreen)这里讲解一下为什么需要 激活joint_state_broadcaster这个控制器因为之前已经有了关节状态发布节点joint_state_broadcasterjoint_state_publisher层级ROS 2 Control 框架内部独立ros2节点数据来源真实硬件接口编码器反馈URDF 中的joint标签静态定义用途发布实际关节状态真实反馈发布虚拟关节状态无硬件时模拟运行条件需要硬件接口运行不需要硬件独立运行典型场景真实机器人/仿真Gazebo/Ignition纯可视化无控制器、无仿真3.3启动gazebo仿真-r 表示启动后立即开始仿真 -v 4Verbosity 级别 4— 设置日志详细程度为最高级Debug 级别输出最详细的调试信息start_gazebo_cmd IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_ros_gz_sim, launch, gz_sim.launch.py)), launch_arguments[(gz_args, [ -r -v 4 , world_path])])3.4 启动ros_gz_bridge就是我上面我讲的那些gz和ros的变换start_gazebo_ros_bridge_cmd Node( packageros_gz_bridge, executableparameter_bridge, parameters[{ config_file: default_ros_gz_bridge_config_file_path, }], outputscreen )3.5 启动图像专用bridge上面那个bridge针对的是相机的参数而这个bridge针对的是相机的数据start_gazebo_ros_image_bridge_cmd Node( packageros_gz_image, executableimage_bridge, arguments[ /camera_head/depth_image, /camera_head/image, ], remappings[ (/camera_head/depth_image, /camera_head/depth/image_rect_raw), (/camera_head/image, /camera_head/color/image_raw), ], )3.6把机器人放在gazebo里面显示start_gazebo_ros_spawner_cmd Node( packageros_gz_sim, executablecreate, outputscreen, arguments[ -topic, /robot_description, -name, robot_name, -allow_renaming, true, -x, x, -y, y, -z, z, -R, roll, -P, pitch, -Y, yaw ])四. move_group.launch.py启动moveit2相关的配置#!/usr/bin/env python3 Launch MoveIt 2 for the myCobot robotic arm. This script creates a ROS 2 launch file that starts the necessary nodes and services for controlling a myCobot robotic arm using MoveIt 2. It loads configuration files, starts the move_group node, and optionally launches RViz for visualization. :author: Addison Sears-Collins :date: December 13, 2024 import os from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler, OpaqueFunction from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit from launch.events import Shutdown from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from moveit_configs_utils import MoveItConfigsBuilder def generate_launch_description(): Generate a launch description for MoveIt 2 with myCobot robot. This function sets up the necessary configuration and nodes to launch MoveIt 2 for controlling a myCobot robotic arm. It includes setting up paths to config files, declaring launch arguments, configuring the move_group node, and optionally starting RViz. Returns: LaunchDescription: A complete launch description for the MoveIt 2 system # Constants for paths to different files and folders package_name_moveit_config mycobot_moveit_config # Launch configuration variables use_sim_time LaunchConfiguration(use_sim_time) use_rviz LaunchConfiguration(use_rviz) rviz_config_file LaunchConfiguration(rviz_config_file) rviz_config_package LaunchConfiguration(rviz_config_package) # Get the package share directory pkg_share_moveit_config_temp FindPackageShare(packagepackage_name_moveit_config) # Declare the launch arguments declare_robot_name_cmd DeclareLaunchArgument( namerobot_name, default_valuemycobot_280, descriptionName of the robot to use) declare_use_sim_time_cmd DeclareLaunchArgument( nameuse_sim_time, default_valuetrue, descriptionUse simulation (Gazebo) clock if true) declare_use_rviz_cmd DeclareLaunchArgument( nameuse_rviz, default_valuetrue, descriptionWhether to start RViz) declare_rviz_config_file_cmd DeclareLaunchArgument( namerviz_config_file, default_valuemove_group.rviz, descriptionRViz configuration file) declare_rviz_config_package_cmd DeclareLaunchArgument( namerviz_config_package, default_valuepackage_name_moveit_config, descriptionPackage containing the RViz configuration file) def configure_setup(context): Configure MoveIt and create nodes with proper string conversions. # Get the robot name as a string for use in MoveItConfigsBuilder robot_name_str LaunchConfiguration(robot_name).perform(context) # Get package path pkg_share_moveit_config pkg_share_moveit_config_temp.find(package_name_moveit_config) # Construct file paths using robot name string config_path os.path.join(pkg_share_moveit_config, config, robot_name_str) # Define all config file paths initial_positions_file_path os.path.join(config_path, initial_positions.yaml) joint_limits_file_path os.path.join(config_path, joint_limits.yaml) kinematics_file_path os.path.join(config_path, kinematics.yaml) moveit_controllers_file_path os.path.join(config_path, moveit_controllers.yaml) srdf_model_path os.path.join(config_path, f{robot_name_str}.srdf) pilz_cartesian_limits_file_path os.path.join(config_path, pilz_cartesian_limits.yaml) # Create MoveIt configuration moveit_config ( MoveItConfigsBuilder(robot_name_str, package_namepackage_name_moveit_config) .trajectory_execution(file_pathmoveit_controllers_file_path) .robot_description_semantic(file_pathsrdf_model_path) .joint_limits(file_pathjoint_limits_file_path) .robot_description_kinematics(file_pathkinematics_file_path) .planning_pipelines( pipelines[ompl, pilz_industrial_motion_planner, stomp], default_planning_pipelineompl ) .planning_scene_monitor( publish_robot_descriptionFalse, publish_robot_description_semanticTrue, publish_planning_sceneTrue, ) .pilz_cartesian_limits(file_pathpilz_cartesian_limits_file_path) .to_moveit_configs() ) # MoveIt capabilities move_group_capabilities {capabilities: move_group/ExecuteTaskSolutionCapability} # Create move_group node start_move_group_node_cmd Node( packagemoveit_ros_move_group, executablemove_group, outputscreen, parameters[ moveit_config.to_dict(), {use_sim_time: use_sim_time}, {start_state: {content: initial_positions_file_path}}, move_group_capabilities, ], ) # Create RViz node start_rviz_node_cmd Node( conditionIfCondition(use_rviz), packagerviz2, executablerviz2, arguments[ -d, [FindPackageShare(rviz_config_package), /rviz/, rviz_config_file] ], outputscreen, parameters[ moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.planning_pipelines, moveit_config.robot_description_kinematics, moveit_config.joint_limits, {use_sim_time: use_sim_time} ], ) # RViz exit handler exit_event_handler RegisterEventHandler( conditionIfCondition(use_rviz), event_handlerOnProcessExit( target_actionstart_rviz_node_cmd, on_exitEmitEvent(eventShutdown(reasonrviz exited)), ), ) return [start_move_group_node_cmd, start_rviz_node_cmd, exit_event_handler] # Create the launch description ld LaunchDescription() # Add the launch arguments ld.add_action(declare_robot_name_cmd) ld.add_action(declare_rviz_config_file_cmd) ld.add_action(declare_rviz_config_package_cmd) ld.add_action(declare_use_sim_time_cmd) ld.add_action(declare_use_rviz_cmd) # Add the setup and node creation ld.add_action(OpaqueFunction(functionconfigure_setup)) return ld