ros noetic moveit 直线运动python函数
时间: 2023-07-21 16:56:08 浏览: 118
moveit_python:纯Python绑定到ROS MoveIt!
5星 · 资源好评率100%
以下是一个使用ROS Noetic和MoveIt进行直线运动的Python函数示例:
```python
import rospy
import moveit_commander
import moveit_msgs.msg
from geometry_msgs.msg import Pose, Point, Quaternion
def move_to_pose_lin(pose_goal):
# 初始化moveit_commander和rospy节点
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_to_pose_lin', anonymous=True)
# 初始化MoveIt运动组
arm_group = moveit_commander.MoveGroupCommander("arm")
# 设置机械臂终端执行器的允许误差值
arm_group.set_goal_joint_tolerance(0.001)
# 设置终端运动的目标位姿
arm_group.set_pose_target(pose_goal)
# 执行直线运动
arm_group.set_start_state_to_current_state()
(plan, fraction) = arm_group.compute_cartesian_path(
[pose_goal],
0.01,
0.0
)
arm_group.execute(plan)
# 关闭MoveIt
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
if __name__ == '__main__':
# 设置终端的目标位姿
pose_goal = Pose()
pose_goal.position.x = 0.5
pose_goal.position.y = 0.0
pose_goal.position.z = 0.5
pose_goal.orientation.x = 0.0
pose_goal.orientation.y = 0.0
pose_goal.orientation.z = 0.0
pose_goal.orientation.w = 1.0
move_to_pose_lin(pose_goal)
```
这个示例函数中,我们首先需要初始化MoveIt和rospy节点。然后,我们创建了一个MoveGroupCommander对象,用于控制机械臂的运动。我们还设置了机械臂终端执行器的允许误差值,并设置了终端运动的目标位姿。接下来,我们调用了compute_cartesian_path函数来计算直线运动的路径,然后执行了该路径。最后,我们关闭了MoveIt。
阅读全文