如何使用moveit接口移动ur5机器人？

Question

我目前正在研究ROS，我的问题是:用moveit接口移动ur5机器人？我编写了一个代码，用来让机器人执行一个简单的动作:在运行代码之前，我启动Gazebo和Rviz。

#!/usr/bin/env python3

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg


class MoveRobotNode():
    """MoveRobotNode"""

    def __init__(self):
        moveit_commander.roscpp_initialize(sys.argv)
        rospy.init_node("move_robot_node", anonymous=True)

        robot = moveit_commander.RobotCommander()

        scene = moveit_commander.PlanningSceneInterface()

        group_name = "manipulator"
        move_group = moveit_commander.MoveGroupCommander(group_name)

    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] = -tau / 8
        joint_goal[2] = 0
        joint_goal[3] = -tau / 4
        joint_goal[4] = 0
        joint_goal[5] = tau / 6  # 1/6 of a turn
        joint_goal[6] = 0

        move_group.go(joint_goal, wait=True)

        move_group.stop()

if __name__ == "__main__":
    robot_control = MoveRobotNode()
    robot_control.go_to_joint_state()

但是当我运行代码时，我会得到以下错误：

maha@ms21:~/catkin_ws/src/move_robot_pkg$ python3 move_robot_node.py
[ INFO] [1662122291.175640005, 1575.932000000]: Loading robot model 'ur5'...
[ WARN] [1662122291.229793210, 1575.986000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1662122292.257776819, 1577.012000000]: Ready to take commands for planning group manipulator.
Traceback (most recent call last):
 File "move_robot_node.py", line 47, in <module>
   robot_control.go_to_joint_state()
 File "move_robot_node.py", line 30, in go_to_joint_state
   move_group = self.move_group
AttributeError: 'MoveRobotNode' object has no attribute 'move_group'

Answer 1

在您的__init__函数中，您将move_group分配给局部变量，而不是类属性；因此，当您试图获取函数之外的值时，它是不可用的。相反，您应该使用self分配它，如下所示：

self.move_group = moveit_commander.MoveGroupCommander(group_name)