ros机械臂moveit控制代码

### ROS MoveIt 控制机械臂 示例代码 为了展示如何利用MoveIt控制机械臂，在Python环境中编写一段简单的程序来实现这一目标。这段代码展示了基本的操作流程，包括初始化、设置目标姿态以及执行动作。 ```python import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg from math import pi from std_msgs.msg import String from moveit_commander.conversions import pose_to_list def all_close(goal, actual, tolerance): """ 辅助函数用于比较两个姿势是否接近。 参数: goal: 目标位置和方向。 actual: 实际达到的位置和方向。 tolerance: 容差范围。 返回值: 如果两者之间的差异小于给定的容差，则返回True；否则False。 """ if isinstance(goal, list): for index in range(len(goal)): if abs(actual[index] - goal[index]) > tolerance: return False elif (hasattr(goal, 'x') and hasattr(goal, 'y') and hasattr(goal, 'z')): return (abs(goal.x - actual.position.x) < tolerance and abs(goal.y - actual.position.y) < tolerance and abs(goal.z - actual.position.z) < tolerance) return True class MoveGroupPythonIntefaceTutorial(object): def __init__(self): super(MoveGroupPythonIntefaceTutorial, self).__init__() ## 初始化 `moveit_commander` 和 `rospy` 节点. moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('move_group_python_interface_tutorial', anonymous=True) robot = moveit_commander.RobotCommander() scene = moveit_commander.PlanningSceneInterface() group_name = "panda_arm" move_group = moveit_commander.MoveGroupCommander(group_name) display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=20) planning_frame = move_group.get_planning_frame() eef_link = move_group.get_end_effector_link() group_names = robot.get_group_names() # Misc variables self.box_name = '' self.robot = robot self.scene = scene self.move_group = move_group self.display_trajectory_publisher = display_trajectory_publisher self.planning_frame = planning_frame self.eef_link = eef_link self.group_names = group_names 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] = -pi/4 joint_goal[2] = 0 joint_goal[3] = -pi/2 joint_goal[4] = 0 joint_goal[5] = pi/3 joint_goal[6] = 0 move_group.go(joint_goal, wait=True) move_group.stop() current_joints = move_group.get_current_joint_values() return all_close(joint_goal, current_joints, 0.01) if __name__ == '__main__': try: tutorial = MoveGroupPythonIntefaceTutorial() print("前往设定的关节状态...") tutorial.go_to_joint_state() # 向指定的目标移动 except rospy.ROSInterruptException: pass ``` 上述脚本定义了一个类`MoveGroupPythonIntefaceTutorial`，该类封装了与MoveIt交互所需的功能[^1]。通过调用成员方法`go_to_joint_state()`可以命令机械臂到达预设的姿态。此例子中的具体数值可以根据实际应用调整。