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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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159
unilabos/device_mesh/view_robot.rviz
View File

@@ -1,23 +1,18 @@
Panels:
- Class: rviz_common/Displays
Help Height: 138
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1
- /TF1/Frames1
- /TF1/Tree1
- /RobotModel1
- /PlanningScene1
- /PlanningScene1/Scene Geometry1
- /RobotState1
- /RobotState1/Links1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5
Tree Height: 345
Splitter Ratio: 0.4940796494483948
Tree Height: 602
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -61,7 +56,7 @@ Visualization Manager:
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Show Names: true
Tree:
{}
Update Interval: 0
@@ -203,6 +198,63 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
benyao_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
benyao_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
hotel_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
@@ -230,7 +282,7 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: ""
Planning Group: benyao_arm
Query Goal State: false
Query Start State: false
Show Workspace: false
@@ -290,6 +342,63 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
benyao_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
benyao_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
hotel_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
@@ -345,43 +454,43 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.595012903213501
Distance: 2.622864246368408
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.29730814695358276
Y: 0.21228469908237457
Z: 0.20008830726146698
X: -0.2880733013153076
Y: -0.16004444658756256
Z: -0.16730672121047974
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.38979560136795044
Pitch: 0.634795606136322
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.05074193701148033
Yaw: 5.590744495391846
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 2160
Hide Left Dock: false
collapsed: true
Height: 1897
Hide Left Dock: true
Hide Right Dock: true
MotionPlanning:
collapsed: false
collapsed: true
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000010000000087000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000003a300000714fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000027000002c80000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000002fb00000440000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000ddb0000071400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 4096
X: 0
Y: 0
Width: 3547
X: -857
Y: 149