pr2機器人手臂畫圓

歡迎轉載請注明出處：海漩渦

http://blog.csdn.net/tanhuifang520

pr2機器人手臂畫圓

零、sudo apt-get install ros-indigo-pr2-desktop

一、cd ~/catkin_ws/src/

二、catkin_create_pkg pr2_draw_circle catkin cmake_modules interactive_markers moveit_core moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp std_msgs

三、vi pr2_draw_circle/src/draw_circle.cpp

寫入以下代碼（cao了第一次在CSDN裡貼代碼，居然不會插入代碼）

#include 
   
    
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             #include "ompl/util/Time.h" #include 
            
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                     typedef move_group_interface::MoveGroup C_moveGroup; typedef moveit::planning_interface::MoveGroup::Plan S_Plan; typedef moveit::planning_interface::PlanningSceneInterface S_PlanningSceneInterface; void IK_action_one(C_moveGroup &group, double position_action[]) { geometry_msgs::PoseStamped target_pose; target_pose.header.frame_id = group.getPoseReferenceFrame(); target_pose.header.stamp = ros::Time::now(); target_pose.pose.position.x = position_action[0]; target_pose.pose.position.y = position_action[1]; target_pose.pose.position.z = position_action[2]; target_pose.pose.orientation.x = position_action[3]; target_pose.pose.orientation.y = position_action[4]; target_pose.pose.orientation.z = position_action[5]; target_pose.pose.orientation.w = position_action[6]; group.setPoseTarget(target_pose, group.getEndEffectorLink()); group.setStartStateToCurrentState() ; group.move(); usleep(500000); } int discretize_circle(double circleCenter[], std::vector
                    
                     
                       > &V_pose_value) { std::vector
                      
                        pose_value(7); pose_value[0] = circleCenter[0]; pose_value[3] = circleCenter[3]; pose_value[4] = circleCenter[4]; pose_value[5] = circleCenter[5]; pose_value[6] = circleCenter[6]; double y_center = circleCenter[1]; double z_center = circleCenter[2]; double angle= 0; double radius = 0.1; double angle_resolution = 10; /* 兩個采樣點間的角度值，減小可提高軌迹規劃成功率 */ double d_angle = angle_resolution*3.14/180; /* 兩個采樣點間的弧度值 */ // 采樣圓上的點 for (int i= 0; i< (360/angle_resolution); i++) { angle+= d_angle; pose_value[1] = y_center + radius*sin(angle); pose_value[2] = z_center + radius*cos(angle); V_pose_value.push_back(pose_value); printf("%f %f %f %f %f %f %f \n",pose_value[0],pose_value[1],pose_value[2],pose_value[3],pose_value[4],pose_value[5],pose_value[6]); } return 0; } int draw_circle(C_moveGroup &group, double circleCenter[]) { int i, j, len; S_Plan plan; std::vector
                       
                        
                          > V_pose_value; std::vector
                         
                           waypoints; geometry_msgs::Pose ee_point_goal_tmp; /* 采樣圓上的點 */ discretize_circle(circleCenter, V_pose_value); for(i=0; i
                          
                         
                        
                       
                      
                     
                    
                   
                  
                 
                
               
              
             
            
           
          
         
        
       
      
     
    
   
           

四、vi pr2_draw_circle/CMakeLists.txt 在末尾添加 aux_source_directory(./src src_list) add_executable(draw ${src_list}) target_link_libraries(draw ${catkin_LIBRARIES}) add_dependencies(draw pr2_draw_circle_generate_messages_cpp) 五、cd ~/catkin_ws/;catkin_make 六、在虛拟機的桌面打開個終端運作指令： roslaunch pr2_moveit_config demo.launch 你将看到pr2機器人

七、運作下面指令你将看到pr2機器人的左手在畫圓了 rosrun pr2_draw_circle draw