webots和ros2笔记03-解析
【摘要】 在完成02-启程：https://zhangrelay.blog.csdn.net/article/details/112675018
那么会思考两个机械臂拿起易拉罐的过程是如何实现了。
简要分析一下：
launch（armed_robots.launch.py）：
import osimport launchfrom ament_index_python.packa...
在完成02-启程：https://zhangrelay.blog.csdn.net/article/details/112675018
那么会思考两个机械臂拿起易拉罐的过程是如何实现了。
简要分析一下：
launch（armed_robots.launch.py）：
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import os
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import launch
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from ament_index_python.packages import get_package_share_directory
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from webots_ros2_core.utils import ControllerLauncher
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from webots_ros2_core.webots_launcher import WebotsLauncher
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-
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def generate_launch_description():
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# Webots
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webots = WebotsLauncher(world=os.path.join(get_package_share_directory('webots_ros2_demos'), 'worlds', 'armed_robots.wbt'))
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# Controller nodes
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synchronization = launch.substitutions.LaunchConfiguration('synchronization', default=False)
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abb_controller = ControllerLauncher(
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package='webots_ros2_core',
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executable='webots_robotic_arm_node',
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arguments=['--webots-robot-name=abbirb4600'],
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parameters=[{'synchronization': synchronization, 'controller_name': 'abb'}],
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output='screen'
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)
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ure5_controller = ControllerLauncher(
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package='webots_ros2_core',
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executable='webots_robotic_arm_node',
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arguments=['--webots-robot-name=UR5e'],
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parameters=[{'synchronization': synchronization, 'controller_name': 'ur'}],
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output='screen'
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)
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# Control nodes
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armed_robots_ur = ControllerLauncher(
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package='webots_ros2_demos',
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executable='armed_robots_ur',
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output='screen'
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)
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armed_robots_abb = ControllerLauncher(
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package='webots_ros2_demos',
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executable='armed_robots_abb',
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output='screen'
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)
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return launch.LaunchDescription([
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webots, abb_controller, ure5_controller, armed_robots_ur, armed_robots_abb,
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launch.actions.RegisterEventHandler(
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event_handler=launch.event_handlers.OnProcessExit(
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target_action=webots,
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on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
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)
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),
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])
启动环境和机械臂：
成功
失败
使用world下armed_robots环境文件。
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# Webots
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webots = WebotsLauncher(world=os.path.join(get_package_share_directory('webots_ros2_demos'), 'worlds', 'armed_robots.wbt'))
控制器节点（两个机械臂分别为ur和abb）：
ur：
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ure5_controller = ControllerLauncher(
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package='webots_ros2_core',
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executable='webots_robotic_arm_node',
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arguments=['--webots-robot-name=UR5e'],
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parameters=[{'synchronization': synchronization, 'controller_name': 'ur'}],
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output='screen'
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)
abb：
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abb_controller = ControllerLauncher(
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package='webots_ros2_core',
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executable='webots_robotic_arm_node',
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arguments=['--webots-robot-name=abbirb4600'],
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parameters=[{'synchronization': synchronization, 'controller_name': 'abb'}],
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output='screen'
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)
这里需要注意（synchronization同步）两个机械臂要同步运动否则无法协调完成任务。
控制器不同于控制，对于两个机械臂有具体的控制节点完成对应的控制指令，如下：
ur：
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armed_robots_ur = ControllerLauncher(
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package='webots_ros2_demos',
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executable='armed_robots_ur',
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output='screen'
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)
具体指令为一系列轨迹和抓取动作坐标。
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import rclpy
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from webots_ros2_demos.follow_joint_trajectory_client import FollowJointTrajectoryClient
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-
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def main(args=None):
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rclpy.init(args=args)
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armed_robot_ur = FollowJointTrajectoryClient('armed_robots_ur', '/ur/follow_joint_trajectory')
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armed_robot_ur.send_goal({
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'joint_names': [
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'shoulder_pan_joint',
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'shoulder_lift_joint',
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'elbow_joint',
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'wrist_1_joint',
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'finger_1_joint_1',
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'finger_2_joint_1',
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'finger_middle_joint_1'
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],
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'points': [
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 3, 'nanosec': 0}
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},
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 4, 'nanosec': 0}
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},
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{
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'positions': [0.63, -2.26, -1.88, -2.14, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 5, 'nanosec': 0}
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},
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{
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'positions': [0.63, -2.26, -1.88, -2.14, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
-
'time_from_start': {'sec': 6, 'nanosec': 0}
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},
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{
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'positions': [0.63, -2.0, -1.88, -2.14, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 7, 'nanosec': 0}
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},
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 8, 'nanosec': 0}
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},
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 9, 'nanosec': 0}
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}
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]
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}, 10)
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rclpy.spin(armed_robot_ur)
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-
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if __name__ == '__main__':
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main()
要能够知道位置指令中抓取部分：
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 4, 'nanosec': 0}
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},
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{
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'positions': [0.63, -2.26, -1.88, -2.14, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 5, 'nanosec': 0}
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},
abb：
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armed_robots_abb = ControllerLauncher(
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package='webots_ros2_demos',
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executable='armed_robots_abb',
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output='screen'
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)
具体指令为一系列轨迹和抓取动作坐标。
-
import rclpy
-
from webots_ros2_demos.follow_joint_trajectory_client import FollowJointTrajectoryClient
-
-
-
def main(args=None):
-
rclpy.init(args=args)
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armed_robot_abb = FollowJointTrajectoryClient('armed_robots_abb', '/abb/follow_joint_trajectory')
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armed_robot_abb.send_goal({
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'joint_names': [
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'A motor',
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'B motor',
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'C motor',
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'E motor',
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'finger_1_joint_1',
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'finger_2_joint_1',
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'finger_middle_joint_1'
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],
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'points': [
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{
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'positions': [0.0, 0.0, 0.0, 0., 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 0, 'nanosec': 0}
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},
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{
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'positions': [-0.025, 0.0, 0.82, -0.86, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 1, 'nanosec': 0}
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},
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{
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'positions': [-0.025, 0.1, 0.82, -0.86, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 2, 'nanosec': 0}
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},
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{
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'positions': [-0.025, 0.1, 0.82, -0.86, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 3, 'nanosec': 0}
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},
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{
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'positions': [-0.025, -0.44, 0.82, -0.86, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 4, 'nanosec': 0}
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},
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{
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'positions': [1.57, -0.1, 0.95, -0.71, 0.85, 0.85, 0.6],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 5, 'nanosec': 0}
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},
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{
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'positions': [1.57, -0.1, 0.8, -0.81, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 6, 'nanosec': 0}
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},
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 7, 'nanosec': 0}
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},
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{
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'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'velocities': [5] * 7,
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'accelerations': [5] * 7,
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'time_from_start': {'sec': 9, 'nanosec': 0}
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}
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]
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}, 10)
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rclpy.spin(armed_robot_abb)
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-
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if __name__ == '__main__':
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main()
更多内容和教程，稍后补充。
- C:\ros_ws\webots2>ros2 launch webots_ros2_tutorials line_following_launch.py
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/112686566
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