ros noetic moveit中的Sequence of multiple segments功能python示例

下面是一个使用Python编写的ROS Noetic中MoveIt的Sequence of Multiple Segments功能的示例代码：

#!/usr/bin/env python3

import rospy
import moveit_commander
import moveit_msgs.msg

def main():
    # 初始化ROS节点
    rospy.init_node('moveit_sequence_of_multiple_segments')

    # 初始化MoveIt
    moveit_commander.roscpp_initialize(sys.argv)

    # 创建机器人运动规划的对象
    robot = moveit_commander.RobotCommander()

    # 创建机械臂运动规划的对象
    arm = moveit_commander.MoveGroupCommander('arm')

    # 设置机械臂的允许误差值
    arm.set_goal_joint_tolerance(0.001)

    # 创建轨迹规划的对象
    trajectory = moveit_msgs.msg.RobotTrajectory()

    # 创建路径点的对象
    waypoints = []

    # 添加起点
    start_pose = arm.get_current_pose().pose
    waypoints.append(start_pose)

    # 添加第一个中间点
    mid_pose1 = start_pose
    mid_pose1.position.x += 0.1
    waypoints.append(mid_pose1)

    # 添加第二个中间点
    mid_pose2 = mid_pose1
    mid_pose2.position.y -= 0.1
    waypoints.append(mid_pose2)

    # 添加终点
    end_pose = start_pose
    end_pose.position.x += 0.2
    end_pose.position.y -= 0.2
    waypoints.append(end_pose)

    # 设置路径点
    (plan, fraction) = arm.compute_cartesian_path(
        waypoints,   # 路径点
        0.01,        # eef_step
        0.0,         # jump_threshold
        True)        # avoid_collisions

    # 将路径点添加到轨迹中
    trajectory.joint_trajectory.points = plan.joint_trajectory.points

    # 创建Sequence of Multiple Segments消息
    sequence = moveit_msgs.msg.MultiDOFJointTrajectory()

    # 设置时间
    sequence.header.stamp = rospy.Time.now()

    # 设置关节名称
    sequence.joint_names = trajectory.joint_trajectory.joint_names

    # 设置每个段的时间和路径点
    for i in range(len(trajectory.joint_trajectory.points)):
        point = trajectory.joint_trajectory.points[i]
        segment = moveit_msgs.msg.MultiDOFJointTrajectoryPoint()

        # 设置时间
        segment.time_from_start = point.time_from_start

        # 设置路径点
        for j in range(len(point.positions)):
            dof = moveit_msgs.msg.MultiDOFJointTrajectoryPoint()
            dof.transforms.append(moveit_msgs.msg.Transform(
                translation=moveit_msgs.msg.Vector3(point.positions[j], 0, 0),
                rotation=moveit_msgs.msg.Quaternion(0, 0, 0, 1)))
            segment.transforms.append(dof)

        # 添加段
        sequence.points.append(segment)

    # 发布Sequence of Multiple Segments消息
    pub = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=10)
    display_trajectory = moveit_msgs.msg.DisplayTrajectory()
    display_trajectory.trajectory.append(trajectory)
    pub.publish(display_trajectory)

    # 清除MoveIt的数据
    moveit_commander.roscpp_shutdown()

if __name__ == '__main__':
    try:
        main()
    except rospy.ROSInterruptException:
        pass

这个示例代码演示了如何使用MoveIt的Sequence of Multiple Segments功能，将机器人运动规划成一系列的段，并依次执行这些段。代码中使用了ROS的Publisher来发布Sequence of Multiple Segments消息，以便在RViz中显示机器人的运动轨迹。