ur3+robotiq 2f 140 configure moveit

ur3+robotiq 2f 140 configure moveit

Reference link 1
Reference link 2
Official configuration movit tutorial

Build environment:

ubuntu: 20.04
ros: Nonetic
sensor: robotiq_ft300
gripper: robotiq_2f_140_gripper
UR: UR3
reasense： D435i

The rviz and gazebo simulation environment of ur3, force sensor, robotiq gripper, realsense are configured through the following blogs

ubuntu20.04 configures the simulation environment of the UR robot arm
ur3+robotiq ft sensor+robotiq 2f 140 configures the rviz simulation environment
ur3+robotiq ft sensor+robotiq 2f 140 configures the gazebo simulation environment
ur3+robotiq ft sensor+robotiq 2f 140+realsense d435i configures rviz ,
add robotiq 2f 140 gripper_controller controller in gazebo simulation environment gazebo simulation environment

Let's configure the moveit of the ur3 robotic arm and gripper

run command

roslaunch moveit_setup_assistant setup_assistant.launch

Choose to create a new movit configuration file, and import the previously prepared description file. I importeduniversal_robot/ur_description/urdf/ur3_ft_gripper_realsense.xacro

Select Generate Collision Matrix

Configure virtual joints

Here I have not configured virtual joints, skip

Create planning group

Click Add Groupto add group

• Add the ur3 robot arm planning group, the relevant configuration is as follows

Click Add Joints, add joints as follows, after adding joints, select chainand clickedit select

The configuration is as shown below

final configuration

• Add robotiq 2f 140 gripper planning group, the relevant configuration is as follows

Click Add Jointsto add the joint as shown below

Define robot pose

• set home

• Set the robotic arm to stand up

• Set to open the gripper open

• Set clamp jaw graspp

final save

Set up the end effector

Set useless joints

That is, some passive joints, the ones without drivers, do not need it to publish joint_state. Select some passive joints of the gripper

controller settings

Directly click the automatic generation in the upper left corner, and the generated group name plus controller

add information

You can write whatever you want, every addition is not generated

generate configuration file

Select the path to store the configuration file and click Generate

After the configuration file is generated, there are many things that are wrong, and the bug needs to be manually corrected

• bug1

Error [parser.cc:488] parse as old deprecated model file failed.
Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
Error Code 8 Msg: Error reading element <plugin>
Error Code 8 Msg: Error reading element <model>
Error Code 8 Msg: Error reading element <sdf>

Solution:

Check the end of your urdf model file to see if it is missing "filename="libgazebo_ros_control.so", I am missing this and report an error, probably because the gazebo_ros_control plugin does not inherit libgazebo_ros_control.so

My urdf file is in the generated configuration file ur3_gripper_moveit_config/config/gazebo_ur3_robot_ft_gripper.urdf, and then added in it, as shown below

Display of results

• show rviz

run command

cd ~/catkin_ws
source devel/setup.bash
roslaunch ur3_gripper_moveit_config demo.launch

Select the robotic arm or gripper, you can do path planning in rviz

• Show rviz and gazebo

run command

cd ~/catkin_ws
source devel/setup.bash
roslaunch ur3_gripper_moveit_config demo_gazebo.launch

It can be seen that the robotic arm has been dancing in gazebo, the reason is unknown