MoveIt! Robot Arm Control - Problem Summary and Solutions

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foreword

This article is to learn the practice of ROS robot development - MoveIt! The problems and solutions encountered in the control part of the robotic arm are used as my own notes to avoid stepping on such problems. I have referred to many blog posts, so I will not list them.
ROS version:
There is a problem in the kinetic process Try it: sudo apt-get update

1. Create a robotic arm model

code show as below:

roslaunch marm_description view_arm.launch 

Question 1

solution
This is a problem caused by the missing joint_state_publisher package. The code is as follows:

sudo apt-get install ros-kinetic-joint-state-publisher

Question 2
solution
joint_state_publisher_gui is a newly updated package. You need to replace the previous joint_state_publisher with joint_state_publisher_gui. The code is as follows:

sudo apt-get install ros-kinetic-joint-state-publisher-gui

accomplish

2. Start MoveIt!

code show as below:

roslaunch marm_moveit_config demo.launch 

Question 1

solution
code show as below:

sudo apt install ros-kinetic-moveit-ros-planning-interface

Question 2

solution
This kind of error is because some packages are not installed completely when installing moveit, you can install moveit again, the code is as follows:

sudo apt-get install ros-kinetic-moveit

accomplish

3. Run the ArbotiX node

code show as below:

roslaunch marm_description  fake_arm.launch 

Question 1

solution
Install arbotix_python, the code is as follows:

sudo apt-get install ros-kinetic-arbotix

accomplish

4. Work space planning

code show as below:

roslaunch marm_planning arm_planning.launch 
rosrun marm_planning moveit_ik_demo.py

Question 1

solution
code show as below:

sudo apt-get install ros-kinetic-genpy

accomplish

5. Start the robot simulation environment

code show as below:

roslaunch marm_gazebo arm_gazebo_control.launch
rosrun marm_planning moveit_ik_demo.py

Question 1

solution
Go to the file directory ~/hh_ws/src/marm_description/urdf, open the file with the .xacro suffix, and add it in the corresponding location, as shown in the following figure.

 <legacyModeNS>true</legacyModeNS>

Question 2

solution
This problem can be ignored, reference link: address .

accomplish

6. Moveit controls the Gazebo robotic arm

code show as below:

roslaunch marm_gazebo arm_bringup_moveit.launch

Question 1
solution

Detailed steps reference link: click here

7. Other

Question 1
Copy the marm_planning function package to your own workspace, and compile the following similar problems:
solution
The above cmake error indicates that the package with the same name is installed or the environment is changed. Generally, the function package is not installed. The code is as follows:

sudo apt-get install ros-kinetic-arbotix

Question 2
Copy the marm_gazebo function package to your own workspace, and compile the following similar problems:

solution
The reason for the analysis is the same as that of question 1, and the code is as follows:

sudo apt-get install ros-kinetic-gazebo-plugins

Summarize

The recording process is difficult, I feel it is helpful, I hope to like and support!