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  • Turtlebot3新手教程:Open-Manipulator机械臂

    *本文针对如何结合turtlebot3Open-Manipulator机械臂做出讲解

    测试Ubuntu 16.04, Linux Mint 18.1ROS Kinetic Kame下进行

    具体步骤如下:

    安装依赖包

    sudo apt-get install ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core

    安装open_manipulator

    cd ~/catkin_ws/src/

    git clone https://github.com/ROBOTIS-GIT/open_manipulator.git

    cd ~/catkin_ws && catkin_make

    Gazebo环境中启动Open-Manipulator

    roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

    发布话题控制open_manipulator

    rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once

    新终端打开,在moveit中使用open_manipulator

    roslaunch open_manipulator_moveit open_manipulator_demo.launch use_gazebo:=true

    发布话题控制机械爪

    rostopic pub /robotis/open_manipulator/gripper std_msgs/String "data: 'grip_on'" --once

    机械臂平台:

    启动dynamixel系列的Open-Manipulator

    roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch

    利用moveit控制

    roslaunch open_manipulator_moveit open_manipulator_demo.launch

    Turtlebot3-waffle结合Open-Manipulator

    安装依赖:

    cd ~/catkin_ws/src

    git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

    cd ~/catkin_ws && catkin_make

    启动rviz并显示模型

    roslaunch open_manipulator_with_tb3 open_manipulator_chain_with_tb3_rviz.launch

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  • 原文地址:https://www.cnblogs.com/bjrobot/p/13813798.html
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