【ROS-Moveit!】机械臂控制探索（2）——Moveit!与Gazebo联合仿真方法

roslaunch ROBOT_moveit_config demo.launch

  controller_manager_ns: ''
  controller_list:
    - name: ROBOT/group1_controller
      action_ns: follow_joint_trajectory
      type: FollowJointTrajectory
      default: true
      joints:
        - joint_1
        - joint_2
        - joint_3
        - joint_4
        - joint_5
        ...
    - name: ROBOT/group2_controller
      action_ns: follow_joint_trajectory
      type: FollowJointTrajectory
      default: true
      joints:
        - joint_6
        - joint_7
        - joint_8
        ...

<launch>

  <!--Set the param that trajectory_execution_manager needs to find the controller plugin-->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>

  <!--load controller_list-->
  <rosparam file="$(find ROBOT_movei_config)/config/controllers.yaml"/>
</launch>

<launch>

  <!--The planning and execution components of MoveIt! configured to 
      publish the current configuration of the robot (simulated or real) 
      and the current state of the world as seen by the planner-->
  <include file="$(find ROBOT_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <!--The visualization component of MoveIt!-->
  <include file="$(find ROBOT_moveit_config)/launch/moveit_rviz.launch"/>
    <arg name="config" value="true"/>
    <arg name="debug" value="false"/>

    <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <rosparam param="/source_list">[/ROBOT/joint_states]</rosparam>
  </node>
</launch>

ROBOT:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
  group1_controller:
    type: position_controllers/JointTrajectoryController
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      ...
  group2_controller:
    type: position_controllers/JointTrajectoryController
    joints:
      - joint_6
      - joint_7
      - joint_8
      ...
ROBOT/gazebo_ros_control/pid_gains:
      joint_1:   {p: 100, i: 0.01, d: 10.0}
      joint_2:   {p: 100, i: 0.01, d: 10.0}
      joint_3:   {p: 100, i: 0.01, d: 10.0}
      joint_4:   {p: 100, i: 0.01, d: 10.0}
      joint_5:   {p: 100, i: 0.01, d: 10.0}
      joint_6:   {p: 100, i: 0.01, d: 10.0}
      joint_7:  {p: 100, i: 0.01, d: 10.0}
      joint_8:  {p: 100, i: 0.01, d: 10.0}
      ...

<launch>
 
  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="world_name" value="$(find pigot_gazebo)/worlds/ROBOT.world"/>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world_name)"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find ROBOT_description)/urdf/ROBOT.xacro"/>

    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model pigot -param robot_description"/>

    <!-- Load joint controller configurations from YAML file to parameter server -->
    <rosparam file="$(find pigot_control)/config/ROBOT_control_moveit.yaml" command="load"/>

    <!-- load the controllers -->
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" ns="/ROBOT"
    output="screen" args="group1_controller
                          group2_controller"/>

    <!-- convert joint states to TF transforms for rviz, etc -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
      <remap from="/joint_states" to="/ROBOT/joint_states" />
    </node>
</launch>

roslaunch ROBOT_gazebo ROBOT_world_moveit.launch
roslaunch ROBOT_moveit_config moveit_planning_execution.launch

[ WARN] [1555932764.794421751, 650.789000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the
link velocity.   
[ WARN] [1555932764.794760002, 650.789000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1555932764.794843510, 650.789000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1555932764.794914569, 650.789000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612