1.简介
此仓库为HIROP的软件平台,包含华数机器人部分机械臂的URDF模型、moveit配置、gazebo配置、ROS-I驱动包、夹爪驱动包、rviz控制面板、抓取Demo、抓取仿真环境、基础Demo等示例开发包。
此平台遵循BSD开源协议。
支持indigo、kinetic版本。如需下载kinetic版本,请将分支切换至kinetic分支。
维护者: Kunlin Xu(1125290220@qq.com)
2.准备工作
2.1 环境安装
请先对ROS环境进行安装,支持indigo以及kinetic版本。
ROS相关教程可参考:完整的安装教程
2.2安装gazebo模型
由于indigo版本的gazebo模型源地址更换,所以无法自动获取完整的gazebo模型,按照以下步骤进行离线安装:
1.从此链接处下载完整的gazebo模型压缩包
2.将模型解压至 ~/.gazebo/modles 文件夹中
3.实验之前说明
HIROP平台支持多型号机械臂,因此以下所有实验均使用br606机械臂作为示例说明。若用户想进行其它支持的机械臂的仿真,则只需将指令中的br606替换成对应型号即可。
4.HIROP的基础使用教程
4.1 加载机械臂模型
roslaunch hsr_description br606_upload.launch
4.2 在rviz中显示模型
$ roslaunch hsr_description display.launch
4.3 启动仿真环境
4.3.1 一键启动:
roslaunch hsr_bringup br606_sim.launch
4.3.2 单独启动(推荐):
roslaunch hsr_description br606_upload.launch
roslaunch hsr_gazebo br606_gazebo.launch
roslaunch br606_moveit_config hsr_br606_moveit_planning_execution.launch sim:=true
roslaunch br606_moveit_config moveit_rviz.launch
4.4 使用gazebo中的相机
roslaunch hsr_description br606_with_kinect_upload.launch
roslaunch hsr_gazebo robot_gazebo.launch
4.5 虚拟抓取
roslaunch hsr_description br606_with_gripper_upload.launch
roslaunch br606_moveit_config hsr_br606_moveit_planning_execution.launch sim:=true
roslaunch br606_moveit_config moveit_rviz.launch
rosrun hsr_demo moveit_pick_and_place_demo.py
4.6 连接实际的机器人
4.6.1 一键启动:
roslaunch hsr_bringup br606_go.launch robot_ip:=10.10.56.214
4.6.2 单独启动(推荐):
roslaunch hsr_description br606_upload.launch
roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
roslaunch hsr_rois_client robot_full_interface_download.launch robot_ip:=10.10.56.214
roslaunch br606_moveit_config moveit_rviz.launch
4.7 启动pick(已知物体位姿)
roslaunch hsr_description br606_with_gripper_upload.launch
roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
roslaunch hsr_rosi_client robot_full_interface_download.launch robot_ip:=10.10.56.214
rosrun hsr_gripper_driver gripper_control_srv
rosrun hsr_gripper_driver gripper_action.py
rosrun hsr_pick moveit_pick_and_place_demo.py
4.8 启动pick and ork(前提需要对相机进行标定)
roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch hsr_description br606_with_gripper_upload.launch
roslaunch br606_moveit_config br606_moveit_planning_execution.launch sim:=false
roslaunch hsr_rosi_client robot_full_interface_download.launch robot_ip:=10.10.56.214
rosrun hsr_gripper_driver gripper_control_srv
rosrun hsr_gripper_driver gripper_action.py
roslaunch hsr_bringup ork_base_tf.launch
rosrun hsr_pick tf_camera_to_base.py
rosrun object_recognition_core detection -c `rospack find object_recognition_linemod`/conf/detection.ros.ork
rosrun hsr_pick moveit_pick_and_place_demo.py
4.9 启动pick and ork (RVIZ GUI)
roslaunch hsr_bringup pick_gui.launch