forked from xtdrone/XTDrone
96 lines
3.2 KiB
Python
96 lines
3.2 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Copyright 2019 Wuhan PS-Micro Technology Co., Itd.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import rospy, sys
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import moveit_commander
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from geometry_msgs.msg import PoseStamped, Pose
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class MoveItIkDemo:
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def __init__(self):
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# 初始化move_group的API
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moveit_commander.roscpp_initialize(sys.argv)
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# 初始化ROS节点
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rospy.init_node('moveit_ik_demo')
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# 初始化需要使用move group控制的机械臂中的arm group
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arm = moveit_commander.MoveGroupCommander('manipulator')
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# 获取终端link的名称
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end_effector_link = arm.get_end_effector_link()
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# 设置目标位置所使用的参考坐标系
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reference_frame = 'base_link'
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arm.set_pose_reference_frame(reference_frame)
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# 当运动规划失败后，允许重新规划
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arm.allow_replanning(True)
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# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
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arm.set_goal_position_tolerance(0.001)
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arm.set_goal_orientation_tolerance(0.01)
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# 设置允许的最大速度和加速度
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arm.set_max_acceleration_scaling_factor(0.5)
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arm.set_max_velocity_scaling_factor(0.5)
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# 控制机械臂先回到初始化位置
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arm.set_named_target('home')
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arm.go()
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rospy.sleep(1)
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# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
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# 姿态使用四元数描述，基于base_link坐标系
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target_pose = PoseStamped()
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target_pose.header.frame_id = reference_frame
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target_pose.header.stamp = rospy.Time.now()
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target_pose.pose.position.x = 0.2593
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target_pose.pose.position.y = 0.0636
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target_pose.pose.position.z = 0.1787
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target_pose.pose.orientation.x = 0.70692
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target_pose.pose.orientation.y = 0.0
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target_pose.pose.orientation.z = 0.0
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target_pose.pose.orientation.w = 0.70729
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# 设置机器臂当前的状态作为运动初始状态
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arm.set_start_state_to_current_state()
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# 设置机械臂终端运动的目标位姿
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arm.set_pose_target(target_pose, end_effector_link)
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# 规划运动路径
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traj = arm.plan()
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# 按照规划的运动路径控制机械臂运动
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arm.execute(traj)
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rospy.sleep(1)
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# 控制机械臂回到初始化位置
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arm.set_named_target('home')
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arm.go()
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# 关闭并退出moveit
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moveit_commander.roscpp_shutdown()
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moveit_commander.os._exit(0)
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if __name__ == "__main__":
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MoveItIkDemo()
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