前言

dual_arm_pick-place項目中，實現了兩套的moveit和gazebo聯合仿真。

啟動文件分別是bringup_moveit.launch和arm_bringup_moveit.launch。

在這個項目中，我將代碼重新創建了一個包，co_simulation，這個包里面只需要五個文件**（兩個yaml文件，三個launch文件）**，我嘗試后，就能夠實現聯合仿真，而且調用的是我自己創建的moveit配置助手包marm_moveit_config。

這個意思是說，理論上來說，我們不需要對moveit配置助手包內容進行任何改變操作，就能夠實現聯合仿真。

但是，不好意思的是，目前我只在這里進行了測試，其他項目中，還沒來得及測試，但是，我覺得，肯定會遇到一些問題。

不過，本項目是可以完全放心使用的。

正文

這里需要注意的是，我上文中說的是五個文件，有同學會問，這里不是六個嘛。

• bringup_moveit_config.launch是使用的我自己創建的moveit配置助手創建的包marm_moveit_config，里面內容沒有更改。
• bringup_moveit.launch使用的是作者使用moveit配置助手創建的marmbots包。

兩種我都試過了，都可以實現聯合仿真。所以我才說的，不需要修改moveit配置助手包就能使用。

創建功能包

catkin_create_pkg co_simulation urdf xacro gazebo_ros gazebo_ros_control gazebo_plugins

我這里創建功能包，喜歡多寫一些依賴項。

項目樹長這樣

├── CMakeLists.txt
├── config
│   ├── joint_state_controller.yaml
│   └── trajectory_controller.yaml
├── launch
│   ├── bringup_gazebo.launch
│   ├── bringup_moveit_config.launch
│   ├── bringup_moveit.launch
│   └── controller_utils.launch
└── package.xml

具體代碼

co_simulation/config/joint_state_controller.yaml

joint_state_controller:type: joint_state_controller/JointStateControllerpublish_rate: 50  

co_simulation/config/trajectory_controller.yaml

arma_trajectory_controller:type: "position_controllers/JointTrajectoryController"joints:- joint1a- joint2a- joint3a- joint4a- joint5a- joint6aconstraints:goal_time: 0.6stopped_velocity_tolerance: 0.05joint1a: {trajectory: 0.1, goal: 0.1}joint2a: {trajectory: 0.1, goal: 0.1}joint3a: {trajectory: 0.1, goal: 0.1}joint4a: {trajectory: 0.1, goal: 0.1}joint5a: {trajectory: 0.1, goal: 0.1}joint6a: {trajectory: 0.1, goal: 0.1}stop_trajectory_duration: 0.5state_publish_rate:  25action_monitor_rate: 10armb_trajectory_controller:type: "position_controllers/JointTrajectoryController"joints:- joint1b- joint2b- joint3b- joint4b- joint5b- joint6bconstraints:goal_time: 0.6stopped_velocity_tolerance: 0.05joint1b: {trajectory: 0.1, goal: 0.1}joint2b: {trajectory: 0.1, goal: 0.1}joint3b: {trajectory: 0.1, goal: 0.1}joint4b: {trajectory: 0.1, goal: 0.1}joint5b: {trajectory: 0.1, goal: 0.1}joint6b: {trajectory: 0.1, goal: 0.1}stop_trajectory_duration: 0.5state_publish_rate:  25action_monitor_rate: 10#notice that the grippers joint2 mimics joint1
#this is why it is not listed under the hand controllers
handa_controller:type: "position_controllers/JointTrajectoryController"joints:- finger_joint1agains:finger_joint1a:  {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}handb_controller:type: "position_controllers/JointTrajectoryController"joints:- finger_joint1bgains:finger_joint1b:  {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}

co_simulation/launch/bringup_gazebo.launch

<?xml version="1.0"?>
<launch>
<!-- 打開gazebo仿真 --><!-- Launch empty Gazebo world --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="use_sim_time" value="true" /><!-- <arg name="world_name" value="$(find test_gazebos_att)/worlds/test_attacher.world"/> --><arg name="gui" value="true" /><arg name="paused" value="false" /><arg name="debug" value="false" /></include><!-- Load the robot description file--><param name="robot_description" command="$(find xacro)/xacro  '$(find marm_description)/urdf/arms2b.xacro'" /><!-- Spawn the robot over the robot_description param--><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -param robot_description -model arms" />
</launch>

co_simulation/launch/bringup_moveit_config.launch

<?xml version="1.0"?>
<launch><!-- Run the main MoveIt executable with trajectory execution --><include file="$(find marm_moveit_config)/launch/move_group.launch"><arg name="allow_trajectory_execution" value="true" /><arg name="moveit_controller_manager" value="ros_control" /><arg name="fake_execution_type" value="interpolate" /><arg name="info" value="true" /><arg name="debug" value="false" /><arg name="pipeline" value="ompl" /><arg name="load_robot_description" value="true" /></include><!-- Start the simulated robot in an empty Gazebo world --><include file="$(find co_simulation)/launch/bringup_gazebo.launch" /><!-- Start the controllers and robot state publisher--><include file="$(find co_simulation)/launch/controller_utils.launch"/><!-- Start moveit_rviz with the motion planning plugin --><include file="$(find marm_moveit_config)/launch/moveit_rviz.launch"><arg name="rviz_config" value="$(find marm_moveit_config)/launch/moveit.rviz" /></include></launch>

co_simulation/launch/bringup_moveit.launch

<?xml version="1.0"?>
<launch><!-- Run the main MoveIt executable with trajectory execution --><include file="$(find marmbots)/launch/move_group.launch"><arg name="allow_trajectory_execution" value="true" /><arg name="moveit_controller_manager" value="ros_control" /><arg name="fake_execution_type" value="interpolate" /><arg name="info" value="true" /><arg name="debug" value="false" /><arg name="pipeline" value="ompl" /><arg name="load_robot_description" value="true" /></include><!-- Start the simulated robot in an empty Gazebo world --><include file="$(find co_simulation)/launch/bringup_gazebo.launch" /><!-- Start the controllers and robot state publisher--><include file="$(find co_simulation)/launch/controller_utils.launch"/><!-- Start moveit_rviz with the motion planning plugin --><include file="$(find marmbots)/launch/moveit_rviz.launch"><arg name="rviz_config" value="$(find marmbots)/launch/moveit.rviz" /></include></launch>

co_simulation/launch/controller_utils.launch

<?xml version="1.0"?>
<launch><!-- Robot state publisher --><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"><param name="publish_frequency" type="double" value="50.0" /><param name="tf_prefix" type="string" value="" /></node><!-- Joint state controller --><rosparam file="$(find co_simulation)/config/joint_state_controller.yaml" command="load" /><node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" respawn="false" output="screen" /><!-- Joint trajectory controller --><rosparam file="$(find co_simulation)/config/trajectory_controller.yaml" command="load" /><node name="arms_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="arma_trajectory_controller armb_trajectory_controller handa_controller handb_controller" /></launch>

運行

以下兩個命令都可以實現

roslaunch co_simulation bringup_moveit.launch 

roslaunch co_simulation bringup_moveit_config.launch 

總結

用這種方式實現聯合仿真比較簡單，但是，不太清楚，其他的項目，能否用這種方式去實現。