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unilab添加moveit启动

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1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
This commit is contained in:
zhangshixiang
2025-06-06 22:09:35 +08:00
parent 554766924e
commit 3d11a0cc50
80 changed files with 2378 additions and 67 deletions
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unilabos/device_mesh/devices/slide_w140/macro_device.xacro
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@@ -8,11 +8,11 @@
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>