机器人抓取仿真1-安装与构造

前言

  • 机器人抓取操作仿真实战，使用nasa_r2机器人模型和gazebo7机器人仿真器

目录

参考

catkin msg header generation issue

nasa_ros_pkg

学习记录

下载

  • 下载nasa_r2_simulator-ingigo.zip, nasa_r2_common-hydro.zip, nasa_common_rosdep-master.zip, nasa_ros_pkg-deprecated_nasa_r2_common-xxx.zip

  • 解压前三个文件夹

  • 从nasa_ros_pkg-deprecated_nasa_r2_common-xxx.zip中复制nasa_r2_common_msgs到/masa_r2_common中

构建

修改包nasa_r2_common_msgs构造描述文件

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240

cmake_minimum_required(VERSION 2.8.3)

project(nasa_r2_common_msgs)



find_package(catkin REQUIRED COMPONENTS message_generation message_runtime std_msgs visualization_msgs geometry_msgs

	trajectory_msgs)



## Generate messages in the 'msg' folder

add_message_files(

  FILES

  Gains.msg

  JointControl.msg

  JointStatusArray.msg

  JointStatus.msg

  PDMCStatus.msg

  PoseCommandArray.msg

  PoseCommand.msg

  PoseCommandParams.msg

  PoseCommandStatus.msg

  PoseTwistStamped.msg

  TorsoStatus.msg



  	JointCommand.msg

	LabeledGripperPositionCommand.msg

	TorsoStatus.msg

	JointControlCalibrationMode.msg

	PDMCStatus.msg

	ForceControlAxisArray.msg

	ControllerJointSettings.msg

	ValueType.msg

	TrajectoryMonitorFactors.msg

	PoseTrajectoryReplan.msg

	Parameter.msg

	PoseCommandParams.msg

	PoseState.msg

	PoseTwistStamped.msg

	PriorityArray.msg

	LabeledTrajectoryMonitorFactors.msg

	LabeledGains.msg

	LabeledControllerJointSettings.msg

	VariantMapArray.msg

	JointTrajectoryReplan.msg

	JointControlData.msg

	JointControlMode.msg

	Gains.msg

	PowerState.msg

	VariantMap.msg

	JointControlClearFaultMode.msg

	JointCapability.msg

	PoseCommandStatus.msg

	SetParameterRequest.msg

	LabeledJointTrajectory.msg

	CommandStatus.msg

	JointStatusArray.msg

	ControllerPoseSettings.msg

	PoseCommandArray.msg

	JointControlDataArray.msg

	LabeledControllerPoseSettings.msg

	LabeledJointControlDataArray.msg

	SetParameterResponse.msg

	JointStatus.msg

	PoseCommand.msg

	SystemCore.msg

	SystemStatus.msg

	Modes.msg

	PoseTrajectoryPoint.msg

	JointControlCommandMode.msg

	JointControl.msg

	LabeledPoseTrajectory.msg

	WrenchMonitorLimit.msg

	JointControlCoeffState.msg

	WrenchState.msg

	PoseTrajectory.msg

	ForceControlAxis.msg

	LabeledJointState.msg

	StringArray.msg

	ReplanType.msg

	MappedType.msg



)





## Generate services in the 'srv' folder

add_service_files(

  FILES

  ParseTableScene.srv

  Power.srv

  ResetTableScene.srv

  Servo.srv

  SetJointMode.srv

  SetTipName.srv

  TakeSnapshot.srv



  SetTipName.srv

  Power.srv

  SetJointMode.srv

  TakeSnapshot.srv

  Servo.srv

  ResetTableScene.srv

  ParseTableScene.srv



)



## Generate added messages and services with any dependencies listed here

generate_messages(

  DEPENDENCIES

  std_msgs

  geometry_msgs

  visualization_msgs



  trajectory_msgs

)



catkin_package(

   CATKIN_DEPENDS 

    std_msgs 

    geometry_msgs

    visualization_msgs

    message_generation

    message_runtime

)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

<?xml version="1.0"?>

<package>

  <name>nasa_r2_common_msgs</name>

  <version>1.0.0</version>

  <description>Messages for dealing with the Robonaut2/ISS Taskboard</description>

  <maintainer email="stephen.hart@nasa.gov">Stephen Hart</maintainer>

  <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>

  <license>BSD</license>

  <url type="website">http://ros.org/wiki/r2_msgs</url>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>std_msgs</build_depend>

  <build_depend>geometry_msgs</build_depend>

  <build_depend>visualization_msgs</build_depend>

  <build_depend>message_runtime</build_depend>

  <build_depend>message_generation</build_depend>

  

  <run_depend>std_msgs</run_depend>

  <run_depend>visualization_msgs</run_depend>

  <run_depend>geometry_msgs</run_depend>

  <run_depend>message_runtime</run_depend>

  <run_depend>message_generation</run_depend>

</package>

修改 gazebo_taskboard 构造描述文件

1
2
3
4
5
6
7
8
9

cmake_minimum_required(VERSION 2.8.3)

project(gazebo_taskboard)

add_definitions(-std=c++11)

# xxxxxxx
add_dependencies(gazebo_taskboard gazebo_taskboard_generate_messages_cpp)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70

<?xml version="1.0"?>

<package>

  <name>gazebo_taskboard</name>

  <version>0.5.3</version>

  <description>The gazebo_taskboard package</description>



  <maintainer email="stephen.hart@nasa.gov">Stephen Hart</maintainer>

  <maintainer email="davidvlu@gmail.com">David Lu!!</maintainer>



  <!-- One license tag required, multiple allowed, one license per tag -->

  <!-- Commonly used license strings: -->

  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

  <license>TODO</license>



  <url type="website">http://wiki.ros.org/gazebo_taskboard</url>



  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>

  <build_depend>rospy</build_depend>

  <build_depend>std_msgs</build_depend>

  <build_depend>gazebo</build_depend>

  <build_depend>message_generation</build_depend>



  <run_depend>message_runtime</run_depend>

  <run_depend>std_msgs</run_depend>

  <run_depend>pluginlib</run_depend>

  <run_depend>actionlib</run_depend>

  <run_depend>geometry_msgs</run_depend>

  <run_depend>rostest</run_depend>

  <run_depend>message_generation</run_depend>



  <export>

    <gazebo plugin_path="${prefix}/lib" />

  </export>

</package>

修改gazebo_gripper, gazebo_interface构造描述文件

1
2

add_definitions(-std=c++11)

catkin_make

  • 应该不会出错

roslaunch

  • 请结合gazebo操作帮助文档，使用r2_gazebo中的launch文件

下期预告

  • 【ROS实战】机器人抓取仿真2-模型与控制
赏

谢谢你请我吃糖果

支付宝
微信

扫一扫，分享到微信

微信分享二维码

tag:

    缺失模块。
    1、在博客根目录（注意不是yilia根目录）执行以下命令：
    npm i hexo-generator-json-content --save

    2、在根目录_config.yml里添加配置： 

      jsonContent:
    meta: false
    pages: false
    posts:
      title: true
      date: true
      path: true
      text: true
      raw: false
      content: false
      slug: false
      updated: false
      comments: false
      link: false
      permalink: false
      excerpt: false
      categories: false
      tags: true

本科学机械，硕士程序员，读书在中南，工作在中兴。