cobot s sim

环境安装 Environment configuration

ros环境 ROS Environment

sudo apt-get install ros-noetic-desktop-full 

moveit

sudo apt-get install ros-noetic-moveit-*

controller

sudo apt-get install ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-control-* ros-noetic-velodyne* ros-noetic-roboticsgroup-upatras-gazebo-plugins ros-noetic-robotis-manipulator ros-noetic-effort-controllers ros-noetic-joint-trajectory-action ros-noetic-joint-state-controller ros-noetic-position-controllers ros-noetic-effort-controllers ros-noetic-gripper-action-controller ros-noetic-joint-trajectory-controller

创建工作空间 Create workspace

mkdir -p scout_cobot_ws/src

下载代码 Clone code

https://github.com/agilexrobotics/scout_cobot_sim.git

进入工作空间编译代码 cd to workspace and compile

cd cobot_s_ws/src
catkin_init_workspace 
cd ..
catkin_make

声明环境变量 source

source devel/setup.bash

启动gazebo仿真 Launch gazebo simulation

1）scout+cr5

roslaunch scout_cobot_cr5_moveit demo_gazebo.launch 

2）scout+xarm6

roslaunch scout_cobot_xarm_moveit demo_gazebo.launch 

控制夹爪 Control the gripper

控制夹爪闭合 control the gripper to close

rostopic pub /gripper_controller/gripper_cmd/goal control_msgs/GripperCommandActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  command:
    position: 10.0
    max_effort: 10.0" 

控制夹爪张开 Control the gripper to open

rostopic pub /gripper_controller/gripper_cmd/goal control_msgs/GripperCommandActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  command:
    position: 0.0
    max_effort: 10.0" 

问题处理 Problem Troubleshooting

如模型在运动过程中出现崩溃现象，可以尝试修改以下参数；gazebo 中的物理参数，迭代次数从50改为100或者更大 If the model crashes during motion, try modifying the following parameters: Physical parameters in gazebo, Change the number of iterations from 50 to 100 or more