一个简单的双臂机器人抓取教程！

A simple tutorial on dual arm robot pick & place!

(1)实验条件

(1)Experimental condition

Ubuntu20.04 + ros-noetic + moveit

(2)使用教程

(2) User Guide

①创建一个工作空间

① Create a workspace

mkdir ros_pp_ws
cd ros_pp_ws

②将代码下载到工作空间中

② Download code to workspace

git clone https://github.com/ppap36/dual_arm_pick-place.git

③编译工作空间

③ Compile workspace

catkin_make

④打开两个窗口，分别执行source

④ Open two windows and perform source operations separately

source devel/setup.bash

⑤对于第一个窗口执行如下代码

⑤ Execute the following code for the first window

roslaunch test_gazebos_att bringup_moveit.launch

执行后就可以看到rviz和gazebo中的双机械臂

After execution, you can see the dual robotic arms in rviz and gazebo

⑥ 之后，在另外一个窗口运行两个代码

Afterwards, run two codes in another window

物块生成代码

Block generation code

rosrun test_gazebos_att spawn_models.py

双臂抓取代码

Double arm grasping code

rosrun test_gazebos_att arms_pp.py

之后就可以看到两个机械臂进行抓取物块的操作啦

Afterwards, you can see two robotic arms performing the operation of grabbing blocks of material

Reference

本实验使用了gazebo抓取插件的代码：https://github.com/pal-robotics/gazebo_ros_link_attacher