9.2-nasa_r2实战1-安装与构造

【ROS实战】机器人抓取仿真1-安装与构造

前言

• 机器人抓取操作仿真实战

目录

【ROS实战】机器人抓取仿真1-安装与构造
前言
目录
参考
学习记录
下载
构建
修改包nasa_r2_common_msgs构造描述文件
修改 gazebo_taskboard 构造描述文件
修改gazebo_gripper, gazebo_interface构造描述文件
catkin_make
roslaunch
下期预告

TOC

参考

catkin msg header generation issue
nasa_ros_pkg

学习记录

下载

• 下载nasa_r2_simulator-ingigo.zip, nasa_r2_common-hydro.zip, nasa_common_rosdep-master.zip, nasa_ros_pkg-deprecated_nasa_r2_common-xxx.zip
• 解压前三个文件夹
• 从nasa_ros_pkg-deprecated_nasa_r2_common-xxx.zip中复制nasa_r2_common_msgs到/masa_r2_common中

构建

修改包nasa_r2_common_msgs构造描述文件

cmake_minimum_required(VERSION 2.8.3)
project(nasa_r2_common_msgs)

find_package(catkin REQUIRED COMPONENTS message_generation message_runtime std_msgs visualization_msgs geometry_msgs
    trajectory_msgs)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  Gains.msg
  JointControl.msg
  JointStatusArray.msg
  JointStatus.msg
  PDMCStatus.msg
  PoseCommandArray.msg
  PoseCommand.msg
  PoseCommandParams.msg
  PoseCommandStatus.msg
  PoseTwistStamped.msg
  TorsoStatus.msg

    JointCommand.msg
    LabeledGripperPositionCommand.msg
    TorsoStatus.msg
    JointControlCalibrationMode.msg
    PDMCStatus.msg
    ForceControlAxisArray.msg
    ControllerJointSettings.msg
    ValueType.msg
    TrajectoryMonitorFactors.msg
    PoseTrajectoryReplan.msg
    Parameter.msg
    PoseCommandParams.msg
    PoseState.msg
    PoseTwistStamped.msg
    PriorityArray.msg
    LabeledTrajectoryMonitorFactors.msg
    LabeledGains.msg
    LabeledControllerJointSettings.msg
    VariantMapArray.msg
    JointTrajectoryReplan.msg
    JointControlData.msg
    JointControlMode.msg
    Gains.msg
    PowerState.msg
    VariantMap.msg
    JointControlClearFaultMode.msg
    JointCapability.msg
    PoseCommandStatus.msg
    SetParameterRequest.msg
    LabeledJointTrajectory.msg
    CommandStatus.msg
    JointStatusArray.msg
    ControllerPoseSettings.msg
    PoseCommandArray.msg
    JointControlDataArray.msg
    LabeledControllerPoseSettings.msg
    LabeledJointControlDataArray.msg
    SetParameterResponse.msg
    JointStatus.msg
    PoseCommand.msg
    SystemCore.msg
    SystemStatus.msg
    Modes.msg
    PoseTrajectoryPoint.msg
    JointControlCommandMode.msg
    JointControl.msg
    LabeledPoseTrajectory.msg
    WrenchMonitorLimit.msg
    JointControlCoeffState.msg
    WrenchState.msg
    PoseTrajectory.msg
    ForceControlAxis.msg
    LabeledJointState.msg
    StringArray.msg
    ReplanType.msg
    MappedType.msg

)


## Generate services in the 'srv' folder
add_service_files(
  FILES
  ParseTableScene.srv
  Power.srv
  ResetTableScene.srv
  Servo.srv
  SetJointMode.srv
  SetTipName.srv
  TakeSnapshot.srv

  SetTipName.srv
  Power.srv
  SetJointMode.srv
  TakeSnapshot.srv
  Servo.srv
  ResetTableScene.srv
  ParseTableScene.srv

)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
  visualization_msgs

  trajectory_msgs
)

catkin_package(
   CATKIN_DEPENDS 
    std_msgs 
    geometry_msgs
    visualization_msgs
    message_generation
    message_runtime
)

<?xml version="1.0"?>
<package>
  <name>nasa_r2_common_msgs</name>
  <version>1.0.0</version>
  <description>Messages for dealing with the Robonaut2/ISS Taskboard</description>
  <maintainer email="stephen.hart@nasa.gov">Stephen Hart</maintainer>
  <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
  <license>BSD</license>
  <url type="website">http://ros.org/wiki/r2_msgs</url>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>visualization_msgs</build_depend>
  <build_depend>message_runtime</build_depend>
  <build_depend>message_generation</build_depend>

  <run_depend>std_msgs</run_depend>
  <run_depend>visualization_msgs</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <run_depend>message_runtime</run_depend>
  <run_depend>message_generation</run_depend>
</package>

修改 gazebo_taskboard 构造描述文件

cmake_minimum_required(VERSION 2.8.3)
project(gazebo_taskboard)
add_definitions(-std=c++11)
# xxxxxxx
add_dependencies(gazebo_taskboard gazebo_taskboard_generate_messages_cpp)

<?xml version="1.0"?>
<package>
  <name>gazebo_taskboard</name>
  <version>0.5.3</version>
  <description>The gazebo_taskboard package</description>

  <maintainer email="stephen.hart@nasa.gov">Stephen Hart</maintainer>
  <maintainer email="davidvlu@gmail.com">David Lu!!</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <url type="website">http://wiki.ros.org/gazebo_taskboard</url>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>gazebo</build_depend>
  <build_depend>message_generation</build_depend>

  <run_depend>message_runtime</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>pluginlib</run_depend>
  <run_depend>actionlib</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <run_depend>rostest</run_depend>
  <run_depend>message_generation</run_depend>

  <export>
    <gazebo plugin_path="${prefix}/lib" />
  </export>
</package>

修改gazebo_gripper, gazebo_interface构造描述文件

add_definitions(-std=c++11)

catkin_make

• 应该不会出错

roslaunch

• 请结合gazebo操作帮助文档，使用r2_gazebo中的launch文件

下期预告

• 【ROS实战】机器人抓取仿真2-模型与控制