整體運行架構
1.運行相機取像節點
. ./install/setup.bash
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
2.運行根據圖像x,y獲取z的service
基本操作記錄：
- 創建python包,在src目錄下
ros2 pkg create test_python_topic --build-type ament_python --dependencies rclpy --license Apache-2.0
2.創建service
ros2 pkg create getzservice --dependencies sensor_msgs rosidl_default_generators --license Apache-2.0
source ~/test_ws/install/setup.bash
一、奧比中光Gemini335相機使用
https://www.orbbec.com.cn/index/Gemini330/info.html?cate=119&id=74
https://github.com/orbbec/OrbbecSDK_v2/releases
1.
cd ~/ros2_ws/
# 構建 Release 版本，默認為 Debug
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
. ./install/setup.bash
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
話題是 /camera/depth_registered/points
得到的圖像是sensor_msgs/msg/PointCloud2
ros2 interface show sensor_msgs/msg/PointCloud2 可以看到圖像數據格式
. ./install/setup.bash
rviz2
寫一個節點
二、YOLO ROS的使用
https://github.com/mgonzs13/yolo_ros/tree/main
終端1：
. ./install/setup.bash
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
終端2：
. ./install/setup.bash
ros2 launch yolo_bringup yolo.launch.py input_image_topic:=/camera/color/image_raw device:=cpu
終端3：
. ./install/setup.bash
ros2 topic info /camera/color/image_raw
rviz2
三、睿爾曼RM65的使用
https://develop.realman-robotics.com/robot/quickUseManual/
快速啟動：
colcon build
source ~/ros2_ws/install/setup.bash
ros2 launch rm_bringup rm_65_bringup.launch.py
一個一個啟動：
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/zc9527/ros2_ws/src/ros2_rm_robot/rm_driver/lib
ros2 launch rm_driver rm_65_driver.launch.pyros2 launch rm_description rm_65_display.launch.pyros2 launch rm_control rm_65_control.launch.pyros2 launch rm_65_config real_moveit_demo.launch.pyjoint_states代表機械臂當前的狀態，我們的rm_driver功能包運行時會發布該話題，這樣rviz中的模型就會根據實際的機械臂狀態進行運動。
rm_control功能包為實現moveit2控制真實機械臂時所必須的一個功能包，該功能包的主要作用為將moveit2規劃好的路徑點進行進一步的細分，將細分后的路徑點以透傳的方式給到rm_driver，實現機械臂的規劃運行。
rm_description功能包為顯示機器人模型和TF變換的功能包，通過該功能包，我們可以實現電腦中的虛擬機械臂與現實中的實際機械臂的聯動的效果
/robot_state_publisher
rm_moveit2_config是實現Moveit2控制真實機械臂的功能包，該功能包的主要作用為調用官方的Moveit2框架，結合我們機械臂本身的URDF生成適配于我們機械臂的moveit2的配置和啟動文件，通過該功能包我們可以實現moveit2控制虛擬機械臂和控制真實機械臂。
/interactive_marker_display_99263946702096
/move_group
/move_group_private_105684501566768
/moveit_simple_controller_manager
/rviz
/rviz_ssp_robot_description
/transform_listener_impl_5a47b008a910
/transform_listener_impl_601e972d1ab0
ros2 run rqt_graph rqt_graph
rm_control/rm_control
rm_description/robot_state_publisher
rm_65_config /moveit_simple_controller_manager
rm_65_config //transform_listener_impl
ompl_planning不會自動生成，需要自己添加文件內容如下：
planning_plugin: ompl_interface/OMPLPlanner
request_adapters: >-default_planner_request_adapters/AddTimeOptimalParameterizationdefault_planner_request_adapters/ResolveConstraintFramesdefault_planner_request_adapters/FixWorkspaceBoundsdefault_planner_request_adapters/FixStartStateBoundsdefault_planner_request_adapters/FixStartStateCollisiondefault_planner_request_adapters/FixStartStatePathConstraints
start_state_max_bounds_error: 0.1
planner_configs:SBLkConfigDefault:type: geometric::SBLrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()ESTkConfigDefault:type: geometric::ESTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05LBKPIECEkConfigDefault:type: geometric::LBKPIECErange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5BKPIECEkConfigDefault:type: geometric::BKPIECErange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5KPIECEkConfigDefault:type: geometric::KPIECErange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5RRTkConfigDefault:type: geometric::RRTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05RRTConnectkConfigDefault:type: geometric::RRTConnectrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()RRTstarkConfigDefault:type: geometric::RRTstarrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1TRRTkConfigDefault:type: geometric::TRRTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05max_states_failed: 10 # when to start increasing temp. default: 10temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0min_temperature: 10e-10 # lower limit of temp change. default: 10e-10init_temperature: 10e-6 # initial temperature. default: 10e-6frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()PRMkConfigDefault:type: geometric::PRMmax_nearest_neighbors: 10 # use k nearest neighbors. default: 10PRMstarkConfigDefault:type: geometric::PRMstarFMTkConfigDefault:type: geometric::FMTnum_samples: 1000 # number of states that the planner should sample. default: 1000radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1nearest_k: 1 # use Knearest strategy. default: 1cache_cc: 1 # use collision checking cache. default: 1heuristics: 0 # activate cost to go heuristics. default: 0extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1BFMTkConfigDefault:type: geometric::BFMTnum_samples: 1000 # number of states that the planner should sample. default: 1000radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0nearest_k: 1 # use the Knearest strategy. default: 1balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1heuristics: 1 # activates cost to go heuristics. default: 1cache_cc: 1 # use the collision checking cache. default: 1extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1PDSTkConfigDefault:type: geometric::PDSTSTRIDEkConfigDefault:type: geometric::STRIDErange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16max_degree: 18 # max degree of a node in the GNAT. default: 12min_degree: 12 # min degree of a node in the GNAT. default: 12max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2BiTRRTkConfigDefault:type: geometric::BiTRRTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1init_temperature: 100 # initial temperature. default: 100frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: infLBTRRTkConfigDefault:type: geometric::LBTRRTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05epsilon: 0.4 # optimality approximation factor. default: 0.4BiESTkConfigDefault:type: geometric::BiESTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()ProjESTkConfigDefault:type: geometric::ProjESTrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05LazyPRMkConfigDefault:type: geometric::LazyPRMrange: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()LazyPRMstarkConfigDefault:type: geometric::LazyPRMstarSPARSkConfigDefault:type: geometric::SPARSstretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001max_failures: 1000 # maximum consecutive failure limit. default: 1000SPARStwokConfigDefault:type: geometric::SPARStwostretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001max_failures: 5000 # maximum consecutive failure limit. default: 5000TrajOptDefault:type: geometric::TrajOptrm_group:planner_configs:- SBLkConfigDefault- ESTkConfigDefault- LBKPIECEkConfigDefault- BKPIECEkConfigDefault- KPIECEkConfigDefault- RRTkConfigDefault- RRTConnectkConfigDefault- RRTstarkConfigDefault- TRRTkConfigDefault- PRMkConfigDefault- PRMstarkConfigDefault- FMTkConfigDefault- BFMTkConfigDefault- PDSTkConfigDefault- STRIDEkConfigDefault- BiTRRTkConfigDefault- LBTRRTkConfigDefault- BiESTkConfigDefault- ProjESTkConfigDefault- LazyPRMkConfigDefault- LazyPRMstarkConfigDefault- SPARSkConfigDefault- SPARStwokConfigDefault- TrajOptDefault
moveL運動:
ros2 launch rm_driver rm_65_driver.launch.py
ros2 launch rm_example rm_6dof_movej.launch.py
四、moveit2的使用
https://github.com/moveit/moveit2_tutorials/tree/humble
https://blog.csdn.net/forever0007/article/details/143745333
https://zhuanlan.zhihu.com/p/616101551
五、moveit2和睿爾曼機器人的聯合使用
ros2 pkg create \--build-type ament_cmake \--dependencies moveit_ros_planning_interface rclcpp \--node-name hello_moveit hello_moveit
source install/setup.bash
ros2 run hello_moveit hello_moveit
最簡單使用
#include <memory>#include <rclcpp/rclcpp.hpp>
#include <moveit/move_group_interface/move_group_interface.h>int main(int argc, char* argv[])
{// Initialize ROS and create the Noderclcpp::init(argc, argv);auto const node = std::make_shared<rclcpp::Node>("hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));// Create a ROS loggerauto const logger = rclcpp::get_logger("hello_moveit");// Create the MoveIt MoveGroup Interfaceusing moveit::planning_interface::MoveGroupInterface;auto move_group_interface = MoveGroupInterface(node, "rm_group");// Set a target Poseauto const target_pose = [] {geometry_msgs::msg::Pose msg;msg.orientation.w = 1.0;msg.position.x = 0.28;msg.position.y = -0.2;msg.position.z = 0.5;return msg;}();move_group_interface.setPoseTarget(target_pose);// Create a plan to that target poseauto const [success, plan] = [&move_group_interface] {moveit::planning_interface::MoveGroupInterface::Plan msg;auto const ok = static_cast<bool>(move_group_interface.plan(msg));return std::make_pair(ok, msg);}();// Execute the planif (success){move_group_interface.execute(plan);}else{RCLCPP_ERROR(logger, "Planing failed!");}// Shutdown ROSrclcpp::shutdown();return 0;
}
六、ROS2 PCL的使用
https://github.com/adrian-soch/pcl_tutorial?utm_source=chatgpt.com
