ros机械臂gazebo仿真抓取ur5

### ROS UR5机械臂 Gazebo 抓取仿真教程 #### 启动UR5机械臂的Gazebo仿真环境 为了启动带有UR5机械臂的Gazebo仿真环境，需先确保已安装所有必需软件包。之后可以利用`roslaunch`指令来激活该仿真： ```bash roslaunch ur_gazebo ur5.launch ``` 此命令会加载默认配置下的UR5模型到Gazebo环境中[^1]。 #### 设置工作空间并集成MoveIt 对于更复杂的操作任务如抓取动作，则建议进一步集成了MoveIt框架用于路径规划等功能支持。这一步骤通常涉及创建一个新的ROS工作区，并从中克隆特定仓库中的源码文件夹至src目录下，接着编译整个工作区以使新加入的功能生效。 #### 编写抓取逻辑节点 编写一个简单的Python脚本作为ROS节点实现基本的物体识别与抓取流程模拟。下面是一个简化版的例子展示如何发送目标位置给MoveGroupInterface从而完成指定物品拾起的动作序列： ```python import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg from math import pi, tau from std_msgs.msg import String from moveit_commander.conversions import pose_to_list def all_close(goal, actual, tolerance): """ Convenience method for testing if a list of values are within a tolerance of their counterparts in another list @param: goal A list of floats, a Pose or a PoseStamped @param: actual A list of floats, a Pose or a PoseStamped @param: tolerance A float @returns: bool """ all_equal = True if type(goal) is list: for index in range(len(goal)): if abs(actual[index] - goal[index]) > tolerance: return False elif type(goal) is geometry_msgs.msg.PoseStamped: return all_close(pose_to_list(goal.pose), pose_to_list(actual.pose), tolerance) elif type(goal) is geometry_msgs.msg.Pose: return all_close(pose_to_list(goal), pose_to_list(actual), tolerance) return True class MoveGroupPythonIntefaceTutorial(object): def __init__(self): super(MoveGroupPythonIntefaceTutorial, self).__init__() ## 初始化moveit_commander 和 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 = "manipulator" 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() def go_to_pose_goal(self): move_group = self.move_group pose_goal = geometry_msgs.msg.Pose() pose_goal.orientation.w = 1.0 pose_goal.position.x = 0.4 pose_goal.position.y = 0.1 pose_goal.position.z = 0.4 move_group.set_pose_target(pose_goal) plan = move_group.go(wait=True) move_group.stop() move_group.clear_pose_targets() current_pose = self.move_group.get_current_pose().pose return all_close(pose_goal, current_pose, 0.01) def main(): try: tutorial = MoveGroupPythonIntefaceTutorial() print("前往预设姿态...") tutorial.go_to_pose_goal() print("完成.") except rospy.ROSInterruptException: return except KeyboardInterrupt: return if __name__ == '__main__': main() ``` 这段代码定义了一个名为 `MoveGroupPythonIntefaceTutorial` 的类，它包含了初始化设置以及移动末端执行器到达预定位姿的方法。通过调用这些方法可以在仿真环境下指挥UR5手臂接近待抓取对象的位置[^3]。