如何使用 moveit 界面移動 ur5 機器人？

Question

我目前正在研究 ROS，我的問題是：使用 moveit 界面移動 ur5 機器人的鋤頭？ 我編寫了一個代碼，應該讓機器人執行一個簡單的運動：在運行代碼之前，我啟動了 Gazebo 和 Rviz。

#!/usr/bin/env python3

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg


class MoveRobotNode():
    """MoveRobotNode"""

    def __init__(self):
        moveit_commander.roscpp_initialize(sys.argv)
        rospy.init_node("move_robot_node", anonymous=True)

        robot = moveit_commander.RobotCommander()

        scene = moveit_commander.PlanningSceneInterface()

        group_name = "manipulator"
        move_group = moveit_commander.MoveGroupCommander(group_name)

    def go_to_joint_state(self):

        move_group = self.move_group

        joint_goal = move_group.get_current_joint_values()
        joint_goal[0] = 0
        joint_goal[1] = -tau / 8
        joint_goal[2] = 0
        joint_goal[3] = -tau / 4
        joint_goal[4] = 0
        joint_goal[5] = tau / 6  # 1/6 of a turn
        joint_goal[6] = 0

        move_group.go(joint_goal, wait=True)

        move_group.stop()

if __name__ == "__main__":
    robot_control = MoveRobotNode()
    robot_control.go_to_joint_state()

但是當我運行代碼時，我得到了這個錯誤：

maha@ms21:~/catkin_ws/src/move_robot_pkg$ python3 move_robot_node.py
[ INFO] [1662122291.175640005, 1575.932000000]: Loading robot model 'ur5'...
[ WARN] [1662122291.229793210, 1575.986000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1662122292.257776819, 1577.012000000]: Ready to take commands for planning group manipulator.
Traceback (most recent call last):
 File "move_robot_node.py", line 47, in <module>
   robot_control.go_to_joint_state()
 File "move_robot_node.py", line 30, in go_to_joint_state
   move_group = self.move_group
AttributeError: 'MoveRobotNode' object has no attribute 'move_group'

Answer 1

在您的__init__ function 中，您將move_group分配給局部變量而不是class 屬性； 因此，當您嘗試獲取 function 之外的值時，它不可用。 相反，您應該將其分配給self ，如下所示：

self.move_group = moveit_commander.MoveGroupCommander(group_name)