ROS——Establishing the simulation of Movelt control manipulator

Software Environment

Ubuntu18.04
ROS version: melodic

Install Movelt

sudo apt-get install ros-melodic-moveit
sudo apt-get install ros-melodic-franka-description

MoveIT control robotic arm

1. Establish a simulation model of a robotic arm

(1) Run simulation modeling commands

roslaunch moveit_setup_assistant setup_assistant.launch

（2）Create New MoveIt! Configuration Package

We choose Create New MoveIt! Configuration Package, click in the middle of the page that pops up browse, select the path /opt/ros/melodic/share/franka_description/robots/panda_arm_hand.urdf.xacro, click load after confirmation, and the following window will appear:

(3) Configure self-collision

Next, configure self-collision, directly select the default 95%, click Generate Collision Matrix:

(4) Define joints

Next, define Virtual Joints:

(5) Define Planning Groups

After filling in the above information, click to Add Jointsselect these as shown below joint:

Then click save, click again add group, and configure as follows:

Then click Add Linksand select the following in the pop-up window links:

save.

(6) Test the robot arm model

Next we select Robot poses, click add pose, adjust 8 joints, you can adjust the values ​​at will, and the corresponding joints of the robotic arm will move accordingly. This step is mainly to check whether the previous steps are correct.

(7) Define End Effectors

(8) Define ROS Control

Click add controller:

Click Add planning group jointsand select panda_arm:

save.

(8) Set Author information

Fill in the author's name and email address. Note that this must be filled in, otherwise the simulation model cannot be generated.

（9）Generate Configuration files

Create a new folder, and then click Generate Package:

Reference article:

• ROS simulation and experiment from installation to robotic arm
• MoveIt教程[15]：MoveIt! Setup Assistant