# MoveIt Simulator Controller
A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF
Intended to replace ``moveit_fake_controller_manager`` - this repo almost exactly replicates a ros_control hardware setup, and has the new feature of being able to specify an inital position.
<img src="https://picknik.ai/assets/images/logo.jpg" width="120">
This open source project was developed at [PickNik Robotics](https://picknik.ai/). Need professional ROS development and consulting? Contact us at projects@picknik.ai for a free consultation.
## Status:
* [![Build Status](https://travis-ci.org/PickNikRobotics/moveit_sim_controller.svg)](https://travis-ci.org/ros-planning/moveit_sim_controller) Travis CI
* [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_sim_controller__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_sim_controller__ubuntu_xenial_amd64__binary/) ROS Buildfarm - AMD64 Xenial Debian Build - Ubuntu 16.04 LTS
* [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit_sim_controller__ubuntu_xenial_amd64)](http://build.ros.org/view/Kdev/job/Kdev__moveit_sim_controller__ubuntu_xenial_amd64/) ROS Buildfarm - AMD64 Xenial Devel Build - Ubuntu 16.04 LTS
* [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_sim_controller__ubuntu_bionic__source)](http://build.ros.org/job/Msrc_uB__moveit_sim_controller__ubuntu_bionic__source/) ROS Buildfarm - AMD64 Bionic Source Build - Ubuntu 18.04 LTS
* [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__moveit_sim_controller__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__moveit_sim_controller__ubuntu_bionic_amd64/) ROS Buildfarm - AMD64 Bionic Devel Build - Ubuntu 18.04 LTS
![](resources/screenshot.png)
## Install
### Ubuntu Debian
```
sudo apt-get install ros-melodic-moveit-sim-controller
```
## Code API
See [Class Reference](http://docs.ros.org/melodic/api/moveit_sim_controller/html/)
## Quick Start
Our example uses the UR5 robot:
sudo apt-get install ros-melodic-ur5-moveit-config
roslaunch moveit_sim_controller ur5_rviz.launch
roslaunch moveit_sim_controller ur5_sim_controller.launch
You should see the robot launch in Rviz with the arm oriented straight up, which is not the zero/home position. You can change the start position by editing in ``config/ur5_controllers.yaml`` the value ``joint_model_group_pose``.
With this simulator you should also be able to use ``rostopic echo`` to see the ``joint_states`` and ``tf`` it is publishing - essentially you have just simulated a full ros_control-based robot without needing hardware. To test with an example joint trajectory, see the demo code in [ros_control_boilerplate](https://github.com/davetcoleman/ros_control_boilerplate).
## Usage
To set your robot's initial simulated position, create a *planning group* in your SRDF using the *MoveIt Setup Assistant* named something like ``whole_body`` or ``arm`` that contains all of your robot's joints. Then, create a *pose* for the planning group that is your start position, and name it something like ``home``.
Then load this node with the following ROS params (yaml is suggested use):
# MoveIt-specific simulation settings:
moveit_sim_hw_interface:
joint_model_group: arm
joint_model_group_pose: home
See [ros_control_boilerplate](https://github.com/davetcoleman/ros_control_boilerplate) for more detailed instructions about using ros_control to visualize your robot - this package simply inherits from that package and adds some MoveIt! dependencies that can parse SRDFs for your initial state.
## Testing and Linting
To run [roslint](http://wiki.ros.org/roslint), use the following command with [catkin-tools](https://catkin-tools.readthedocs.org/):
catkin build --no-status --no-deps --this --make-args roslint
To run [catkin lint](https://pypi.python.org/pypi/catkin_lint), use the following command with [catkin-tools](https://catkin-tools.readthedocs.org/):
catkin lint -W2
There are currently no unit or integration tests for this package. If there were you would use the following command with [catkin-tools](https://catkin-tools.readthedocs.org/):
catkin run_tests --no-deps --this -i
## Contribute
Please send PRs for new helper functions, fixes, etc!
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ros-control模板,用于ros-concol和moveit仿真机械臂
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ros_control模板,用于ros_concol和moveit仿真机械臂
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moveit_sim_controller-melodic-devel.zip (15个子文件)
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moveit_sim_controller
moveit_sim_hw_interface.h 3KB
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CHANGELOG.rst 970B
.travis.yml 497B
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screenshot.png 14KB
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moveit_sim_hw_main.cpp 3KB
moveit_sim_hw_interface.cpp 5KB
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package.xml 1KB
launch
ur5_rviz.launch 1KB
ur5_sim_controller.launch 2KB
ur5.rviz 5KB
.gitignore 242B
README.md 4KB
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ur5_controllers.yaml 1KB
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