MoveIt! with real Hardware-实现Rviz 和真实机械臂UR5同步与交互

[A Test-To bring up the real robot]

roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

A simple test script that moves the robot to predefined positions can be executed like this:

rosrun ur_driver test_move.py

[Making contact with UR5]

roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch 

 roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Result:

1.File structures

1-ur5_bringup.launch: Loads ur5 robot description,Starts ur driver node and robot state publisher (translates joint positions to propper tfs).
2-ur5_moveit_planning_execution.launch: Remap follow_joint_trajectory, Launch moveit.
3-moveit_rviz.launch: (generated by moveit setup assistant) Starts rviz node