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Kinova_MOVO机器人基本操作及机械臂倒水demo实现

人工智能 跃动的风 2305次浏览 0个评论

文章目录

  • 1、MOVO安装教程
    • MOVO开发硬件需求
    • 软件安装
    • 连接到MOVO平台
  • ２、MOVO机器人的基本使用
  • 3、制作倒水DEMO

Kinova MOVO Kinova MOVO官网
Kinova参数页

1、MOVO安装教程

翻译自movo-github-wiki

MOVO开发硬件需求

官方只支持Ubuntu 14.04 Trusty, x64 platform (core i5, core i7), 8GB RAM。

软件安装

您需要安装几个开发包才能在MOVO上进行开发。 一些包装属于Kinova外部开发包，其他的是Kinova专用开发包。 如果您在安装Kinova开发包时遇到任何障碍，请在此处报告问题。 对于任何专门针对外部库的问题，这些库的支持团队可能是获得修复的最佳选择。 但是，我们很乐意回答您的任何问题，并提供有关您使用MOVO开发的任何问题的帮助。 本节将指导您完成安装过程。
-有两种安装的方式：自动/手动

  • 自动安装脚本使用方式：创建工作区并克隆kinova-movo库后，运行交互式bash脚本* setup_remote_pc *以自动执行安装。推荐采用自动方式。

  • 手动安装方式具体见此处。

连接到MOVO平台

  • 通过无线或有限两种方式连接到MOVO平台。
    无线wifi(wifi名: MoVoWifi 密码: Welcome00)
  • 通过SSH登陆到MOVO,ssh movo@10.66.171.1,登陆密码Welcome00。
  • 若要将手柄连接到远程开发者电脑上使用，打开终端进行以下操作：
cd ~/movo_ws
sws # alias sws='source ./devel/setup.bash' defined in .bashrc
roslaunch movo_remote_teleop movo_remote_teleop.launch
  • 若要将手柄插在MOVO上使用，在远程开发者电脑上SSH登陆到MOVO后，执行以下操作： 
    cd ~/movo_ws
sws # alias sws='source ./devel/setup.bash' defined in .bashrc
roslaunch movo_remote_teleop movo_remote_teleop.launch

２、MOVO机器人的基本使用

官方提供了以下功能：

3、制作倒水DEMO

基于Moveit对机械臂进行规划，具体学习可以参照此处:

通过c++接口调用Moveit进行编程

ros::actionlib动作服务器（action server）在动作客户端（action client）中的调用

ROS教程下载

机器人倒水
以下为主程序

// movo_moveit_uoperbody.cpp
#include <moveit/move_group_interface/move_group.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit_msgs/DisplayRobotState.h> 
#include <moveit_msgs/DisplayTrajectory.h> 
#include <moveit_msgs/AttachedCollisionObject.h> 
#include <moveit_msgs/CollisionObject.h> 
#include <control_msgs/GripperCommandActionGoal.h>

//grasp
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <control_msgs/GripperCommandAction.h>
#include <control_msgs/GripperCommandGoal.h>


int main(int argc, char **argv)
{
  ros::init(argc, argv, "movo_moveit");
  ros::NodeHandle node_handle; 
  ros::AsyncSpinner spinner(1);
  spinner.start();

//action grasp

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acr("/movo/right_gripper_controller/gripper_cmd", true);
ROS_INFO("Waiting for the gripper action server");
acr.waitForServer(ros::Duration(3));
ROS_INFO("Connected to move base server");
control_msgs::GripperCommandGoal grigoal_right;

actionlib::SimpleActionClient<control_msgs::GripperCommandAction> acl("/movo/left_gripper_controller/gripper_cmd", true);
// Wait 60 seconds for the action server to become available
ROS_INFO("Waiting for the gripper action server");
acl.waitForServer(ros::Duration(3));
ROS_INFO("Connected to move base server");
control_msgs::GripperCommandGoal grigoal_left;


 
  moveit::planning_interface::MoveGroup group("upper_body");
  moveit::planning_interface::MoveGroup l_group("left_arm");
  moveit::planning_interface::MoveGroup r_group("right_arm");
  group.setNamedTarget("homed_2");
  
  moveit::planning_interface::MoveGroup::Plan upperbody_plan;
  bool success_upper = group.plan(upperbody_plan);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper)
      group.execute(upperbody_plan);
  
  group.setNamedTarget("plan_grasp");
  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1;
  bool success_upper_1 = group.plan(upperbody_plan_1);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1)
    {
      
      group.execute(upperbody_plan_1);
    }

//opengrasp
grigoal_right.command.position = 0.16;

ROS_INFO("Sending goal");
acr.sendGoal(grigoal_right);
acr.waitForResult();
if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("You have reached the goal!");
else
ROS_INFO("The base failed for some reason");

grigoal_left.command.position = 0.16;

ROS_INFO("Sending goal");
acl.sendGoal(grigoal_left);
acl.waitForResult();
if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("You have reached the goal!");
else
ROS_INFO("The base failed for some reason");
//grasp

  sleep(3);

  //youbi_1_2_3
  r_group.setNamedTarget("right_grasp1");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1;
  bool success_right_grasp_1 = r_group.plan(right_grasp_plan_1);
 
  ROS_INFO("Visualizing plan1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_1);
    }

  r_group.setNamedTarget("right_grasp2");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2;
  bool success_right_grasp_2 = r_group.plan(right_grasp_plan_2);
 
  ROS_INFO("Visualizing plan2  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_2);
    }
  
	//closegrasp_right
	grigoal_right.command.position = 0.03;

	ROS_INFO("Sending goal");
	acr.sendGoal(grigoal_right);
	acr.waitForResult();
	if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
	ROS_INFO("You have reached the goal!");
	else
	ROS_INFO("The base failed for some reason");
	//grasp

  r_group.setNamedTarget("right_grasp3");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3;
  bool success_right_grasp_3 = r_group.plan(right_grasp_plan_3);
 
  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_3);
    }

//zuobi1-2-3
  l_group.setNamedTarget("left_grasp1");
  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1;
  bool success_left_grasp_1 = l_group.plan(left_grasp_plan_1);
 
  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_1)
    {
      sleep(1);
      l_group.execute(left_grasp_plan_1);
    }


  l_group.setNamedTarget("left_grasp2");
  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2;
  bool success_left_grasp_2 = l_group.plan(left_grasp_plan_2);
 
  ROS_INFO("Visualizing plan2_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2)
    {
      sleep(1);
      l_group.execute(left_grasp_plan_2);
    }
  
	//closegrasp_left
	grigoal_left.command.position = 0.03;

	ROS_INFO("Sending goal");
	acl.sendGoal(grigoal_left);
	acl.waitForResult();
	if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
	ROS_INFO("You have reached the goal!");
	else
	ROS_INFO("The base failed for some reason");
	//grasp

  l_group.setNamedTarget("left_grasp3");
  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_3;
  bool success_left_grasp_3 = l_group.plan(left_grasp_plan_3);
 
  ROS_INFO("Visualizing plan3_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_3)
    {
      sleep(1);
      l_group.execute(left_grasp_plan_3);
    }
  
  sleep(1);
//youbi-4
  r_group.setNamedTarget("right_grasp4");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_4;
  bool success_right_grasp_4 = r_group.plan(right_grasp_plan_4);
 
  ROS_INFO("Visualizing plan4  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_4)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_4);
    }

  sleep(3);
//youbi-3
  r_group.setNamedTarget("right_grasp3");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_3_1;
  bool success_right_grasp_3_1 = r_group.plan(right_grasp_plan_3_1);
 
  ROS_INFO("Visualizing plan3  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_3_1)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_3_1);
    }
//youbi-2
  r_group.setNamedTarget("right_grasp2");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_2_1;
  bool success_right_grasp_2_1 = r_group.plan(right_grasp_plan_2_1);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_2_1)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_2_1);
    }
	//opengrasp-right
	grigoal_right.command.position = 0.16;

		ROS_INFO("Sending goal");
		acr.sendGoal(grigoal_right);
		acr.waitForResult();
		if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
		ROS_INFO("You have reached the goal!");
		else
		ROS_INFO("The base failed for some reason");
	//opengrasp
//youbi-1
  r_group.setNamedTarget("right_grasp1");
  moveit::planning_interface::MoveGroup::Plan right_grasp_plan_1_1;
  bool success_right_grasp_1_1 = r_group.plan(right_grasp_plan_1_1);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_right_grasp_1_1)
    {
      sleep(1);
      r_group.execute(right_grasp_plan_1_1);
    }

//zoubi-2
  l_group.setNamedTarget("left_grasp2");
  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_2_1;
  bool success_left_grasp_2_1 = l_group.plan(left_grasp_plan_2_1);
 
  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_2_1)
    {
      sleep(1);
      l_group.execute(left_grasp_plan_2_1);
    }

	  //opengrasp-left
	grigoal_left.command.position = 0.16;

	ROS_INFO("Sending goal");
	acl.sendGoal(grigoal_left);
	acl.waitForResult();
	if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
	ROS_INFO("You have reached the goal!");
	else
	ROS_INFO("The base failed for some reason");
	//grasp

//zoubi-1
  l_group.setNamedTarget("left_grasp1");
  moveit::planning_interface::MoveGroup::Plan left_grasp_plan_1_1;
  bool success_left_grasp_1_1 = l_group.plan(left_grasp_plan_1_1);
 
  ROS_INFO("Visualizing plan1_1  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_left_grasp_1_1)
    {
      sleep(1);
      l_group.execute(left_grasp_plan_1_1);
    }
  



//dual-2
 group.setNamedTarget("plan_grasp");
  moveit::planning_interface::MoveGroup::Plan upperbody_plan_1_1;
  bool success_upper_1_1 = group.plan(upperbody_plan_1_1);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_1_1)
    {
      
      group.execute(upperbody_plan_1_1);
    }
  
  sleep(4);
//closegripper
//closegrasp_right
	grigoal_right.command.position = 0.03;

	ROS_INFO("Sending goal");
	acr.sendGoal(grigoal_right);
	acr.waitForResult();
	if (acr.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
	ROS_INFO("You have reached the goal!");
	else
	ROS_INFO("The base failed for some reason");
	//grasp
//closegrasp_left
	grigoal_left.command.position = 0.03;

	ROS_INFO("Sending goal");
	acl.sendGoal(grigoal_left);
	acl.waitForResult();
	if (acl.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
	ROS_INFO("You have reached the goal!");
	else
	ROS_INFO("The base failed for some reason");
	//grasp



//dual-1
  group.setNamedTarget("homed_2");
  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0_1;
  bool success_upper_0_1 = group.plan(upperbody_plan_0_1);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0_1)
      group.execute(upperbody_plan_0_1);

  sleep(2);
//dual-0
  group.setNamedTarget("tucked");
  moveit::planning_interface::MoveGroup::Plan upperbody_plan_0;
  bool success_upper_0 = group.plan(upperbody_plan_0);
 
  ROS_INFO("Visualizing plan  (pose goal) %s",success_upper?"":"FAILED");   

  if(success_upper_0)
      group.execute(upperbody_plan_0);
   ros::shutdown();
  return 0;
}

其中，我们通过在moveit配置中预存了很多的位姿如:right_grasp1实现精准控制。
通过使用此语句设定目标并发送：r_group.setNamedTarget(“right_grasp1”);
位姿预存在/kinova-movo/movo_moveit_config/config/movo_kg2.srdf文件中。格式如下:

   <group_state name="plan_grasp" group="upper_body">
        <joint name="right_elbow_joint" value="2.28" />
        <joint name="right_shoulder_lift_joint" value="2.17" />
        <joint name="right_shoulder_pan_joint" value="-2.56" />
        <joint name="right_wrist_1_joint" value="-0.09" />
        <joint name="right_wrist_2_joint" value="0.15" />
        <joint name="right_wrist_3_joint" value="1.06" />
        <joint name="left_elbow_joint" value="-2.28" />
        <joint name="left_shoulder_lift_joint" value="-2.17" />
        <joint name="left_shoulder_pan_joint" value="2.56" />
        <joint name="left_wrist_1_joint" value="0.09" />
        <joint name="left_wrist_2_joint" value="-0.15" />
        <joint name="left_wrist_3_joint" value="2.06" />
        <joint name="linear_joint" value="0.45" />
        <joint name="pan_joint" value="0.0" /> 
        <joint name="tilt_joint" value="0.0" />         
    </group_state>

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