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Starai Arm 机械臂-ROS2 Moveit 使用教程 Starai Arm Manipulator - ROS2 MoveIt Guide

SO-101 follower arm SO-101 leader arm

环境依赖/Dependent Environment

No LSB modules are available.

Distributor ID: Ubuntu

Description: Ubuntu 22.04.5 LTS

Release: 22.04

Codename: Jammy

ROS2: Humble

安装ROS2 Humble/Install ROS2 Humble

ROS2 Humble 安装指南

ROS2 Humble Installation

安装Moveit2/Install Moveit2

sudo apt install ros-humble-moveit*

安装舵机SDK库/Install servo's SDK

sudo pip install pyserial
sudo pip install fashionstar-uart-sdk

克隆star-arm-moveit2功能包/Clone star-arm-moveit2 Ros2's Package

cd ~/
git clone https://github.com/Welt-liu/star-arm-moveit2.git
cd ~/star-arm-moveit2
colcon build
echo "source ~/star-arm-moveit2/install/setup.bash" >> ~/.bashrc
source ~/.bashrc
stararm.mp4

MoveIt2

激活机械臂&MoveIt2/Activate the robotic arm & MoveIt2

使用虚拟机械臂/Using a virtual robotic arm

Viola

ros2 launch viola_moveit_config demo.launch.py
Cello 
ros2 launch cello_moveit_config demo.launch.py

使用真实的机械臂/Using a real robotic arm

终端1:启动手臂硬件驱动/Terminal 1: Start the arm hardware driver

手臂会移动到零位/The Arm Will Move to The Zero Position.

Viola

ros2 launch viola_moveit_config driver.launch.py
Cello 
ros2 launch cello_moveit_config driver.launch.py

终端2:启动moveit2/Terminal 2:Starthe Moveit2

Viola

ros2 launch viola_moveit_config actual_robot_demo.launch.py
Cello 
ros2 launch cello_moveit_config actual_robot_demo.launch.py

到此可实现虚拟机械臂控制真实机械臂的功能/At this point, you can control the real robotic arm with the virtual robotic arm.

手臂末端位姿读写示例/End-effector pose read/write demo

终端3：启动末端位姿读写示例/Terminal 3: Start the end-effector pose read/write demo

Viola

ros2 launch viola_moveit_config moveit_write_read.launch.py
Cello 
ros2 launch cello_moveit_config moveit_write_read.launch.py

位姿话题发送节点示例/Position and orientation topic sending node demo

请更新文件/update here

src/arm_moveit_write/src/topic_publisher.cpp

    // viola
    // dataset1_ = {
    //   {0.35, -0.00, 0.23},       // position
    //   {-0.499, 0.500, -0.500, 0.500}, // orientation
    //   "open"                         // gripper_state
    // };
    // dataset2_ = {
    //   {0.15, -0.00, 0.299},        // position
    //   {0.500, -0.500, 0.500, -0.499},   // orientation
    //   "close"                        // gripper_state
    // };

    //cello
    dataset1_ = {
      {0.278, 0.000, 0.438},       // position
      {-0.506, 0.507, -0.496, 0.491}, // orientation
      "open"                         // gripper_state
    };
    dataset2_ = {
      {0.479, -0.000, 0.369},        // position
      {-0.506, 0.507, -0.496, 0.491}, // orientation
      "close"                        // gripper_state
    };

终端4：启动位姿话题发送节点/Terminal 4: Start the position and orientation topic sending node

colcon build
source install/setup.sh
ros2 run arm_moveit_write topic_publisher

MoveIt2-gazebo仿真机械臂例程/MoveIt2-Gazebo Simulation Robot Arm Example

Tip

在关闭gazebo图形界面后，建议在终端使用 pkill -9 -f gazebo 命令彻底关闭 在运行例程前，需要关闭其他所有正在运行的节点。

安装gazebo/Install gazebo

sudo apt install gazebo
sudo apt install ros-humble-moveit*

终端1:启动gazebo图形界面/Terminal 1: Launch the Gazebo graphical user interface

Viola

ros2 launch viola_gazebo viola_gazebo.launch.py
Cello 
ros2 launch cello_gazebo cello_gazebo.launch.py

终端2:启动moveit2界面/Terminal 2:Launch the MoveIt2 interface

Viola

ros2 launch viola_moveit_config gazebo_demo.launch.py
Cello 
ros2 launch cello_moveit_config gazebo_demo.launch.py

机械臂示教模式/Teaching Mode for the Robotic Arm

Tip

需要重新录制轨迹，可将record-test文件夹删除or新建终端文件名record-test1/Delete the record-test folder, or create a new terminal file name record-test1

终端1:启动手臂硬件驱动(示教模式)/Terminal 1: Start the arm hardware driver (teaching mode)

ros2 run robo_driver driver --ros-args -p lock:='disable'

终端2:记录手臂轨迹/Terminal 2: Record arm trajectory

按下回车开始录制，再按下回车结束录制，通过dataset参数指定保存路径/Press Enter to start recording, press Enter to end recording, and specify the save path through the dataset parameter.

ros2 run ros2_bag_recorder bag_recorder --ros-args -p dataset:=star/record-test

终端3:重播运行轨迹/Terminal 3: Replay the recorded trajectory

ros2 bag play ./star/record-test

FAQ

如果rivz2界面出现频闪，可以尝试以下指令/ If you experience flickering in the RViz2 interface, try the following commands:

export QT_AUTO_SCREEN_SCALE_FACTOR=0