环境ubuntu20.04 ROS-noetic

国内少有搭建Moveit和Gazebo联合仿真的教程，对于搭建双臂等复杂的仿真平台更是鲜有资料，因此想要把自己的见解分享出来供大家参考，共同提高。

本文提出了两种方法实现Moveit 对双臂的规划，并在gazebo中进行仿真

方案一

首先是方案一，主要思路是：使用moveit setup assistant配置规划组的时候，创建一个父组，包含两条臂的规划组。

先说方案一的优缺点：

优点：两条臂互相知道对方的存在，Moveit进行规划的时候会考虑到两条臂之间的避障

缺点：Moveit不能实现对两条臂的独立控制，如果对单独臂的规划组进行操作时，规划动作的执行是阻塞的，即一条臂执行完，另一条臂才能继续执行；如果对含有两个臂的规划组的父组进行操作时，存在的问题是：Moveit规划时总是保证两个臂的运行时间是一致的，即两个臂的轨迹长度相差较大时，Moveit使两个臂的运行速度相差很大，保证两者同时开始，同时结束。

这样不能实现我想要的两个臂比较独立的控制，但是实现起来比较简单。

实现的效果展示：

主要过程参考moveit官方教程：Multiple Robot Arms — moveit_tutorials Noetic documentation

但是官方教程中，并未详细说明如何控制双臂同时规划，所以这里我们对该部分详细说明，教程中已有的部分不再赘述，建议读者先仔细阅读教程。

Moveit setup assistant配置

进入正文，首先在 moveit setup assistant配置部分，我们在完成教程已有的内容后，还需要增加一个group，我这里命令为dual_arm(ps:这里前后图片规划组的名称一个是dual_arm 一个是dual_arms，是我两次实践过程中命名不同而已，读者要注意统一，别被我误导)

选择 add subgroups 然后把之前创建的四个group（这部分内容看官方教程）分别是right_arm 、left_arm、left_hand、right_hand添加进去

然后是关于eef末端执行器的配置，制定两个末端执行器，这里是为了方便后续编程同时控制双臂，指明两个臂各自的末端执行器，后续才能通过编程接口进行控制。

        这里moveit setup assistant配置我们需要额外添加的部分（或者与教程不同的部分）就全部完成了，生成moveit_config包，我这里命名的是 dual_arm_moveit_config，生成之后进行编译，运行demo.launch ，运行效果如下图所示：

当rviz界面左下角MotionPlanning插件，Planning Group选择dual_arms(dual_arm)时，可以看到两条臂都有可以被拖动的标记，拖动 goal state到一个你想要的位置，然后plan execute，可以看到两条臂同时运动了！

如果两条臂处于碰撞状体时，接触的相应部分也会变红，这说明Moveit在规划时会考虑两条臂之间的碰撞。

当然Planning Group选择right_arm或者left_arm时也能实现对单独臂进行控制。

编程接口

刚才仅是在rviz中的可视化界面实现了控制，下面介绍如何通过编程接口进行对双臂的控制。

先给出代码，主要的介绍都在注释中。

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group_interface.h>
//包含需要的头文件
int main(int argc, char** argv)
{ros::init(argc,argv,"demo");ros::NodeHandle node_handle;
//ros节点初始化
//开辟线程，主要作用是为move group节点获取当前机器人状态ros::AsyncSpinner spinner(1);spinner.start();
//这些string都是之前我们在setup assistant配置中定义的，一定要保持一致static const std::string right_arm_group = "right_arm";static const std::string left_arm_group = "left_arm";static const std::string dual_arm_group = "dual_arms";static const std::string right_end_effector_link = "right_arm_link8";static const std::string left_end_effector_link = "left_arm_link8";
//实例化move group接口moveit::planning_interface::MoveGroupInterface right_arm_move_group_interface(right_arm_group);moveit::planning_interface::MoveGroupInterface left_arm_move_group_interface(left_arm_group);moveit::planning_interface::MoveGroupInterface dual_arm_move_group_interface(dual_arm_group);
//这个ready也是在setup assistant配置中提前定义好的pose，详细过程见官方教程right_arm_move_group_interface.setNamedTarget("ready");left_arm_move_group_interface.setNamedTarget("ready");
//实例化一些planmoveit::planning_interface::MoveGroupInterface::Plan right_arm_plan;moveit::planning_interface::MoveGroupInterface::Plan left_arm_plan;moveit::planning_interface::MoveGroupInterface::Plan dual_arm_plan;
//对机械臂运行到ready位姿进行规划和执行，可以看到机械臂的运动是阻塞执行的，直到right arm执行完，才去执行left arm，因此这是我们需要dual arm group的原因bool rgt_success = (right_arm_move_group_interface.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);if(rgt_success){right_arm_move_group_interface.execute(right_arm_plan);}bool lft_success = (left_arm_move_group_interface.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);if(lft_success){left_arm_move_group_interface.execute(left_arm_plan);}
//实例化两个pose，从当前pose进行修改，获得target posegeometry_msgs::PoseStamped current_right_arm_pose = right_arm_move_group_interface.getCurrentPose();geometry_msgs::PoseStamped current_left_arm_pose = left_arm_move_group_interface.getCurrentPose();geometry_msgs::PoseStamped target_right_arm_pose = current_right_arm_pose;target_right_arm_pose.pose.position.z -= 0.3;target_right_arm_pose.pose.position.x += 0.4;target_right_arm_pose.pose.position.x = -target_right_arm_pose.pose.position.x;geometry_msgs::PoseStamped target_left_arm_pose = current_left_arm_pose;target_left_arm_pose.pose.position.z += 0.2;
//设置双臂的规划目标，可以看到setPoseTarget函数通过指定了末端执行器的link来区分两个臂，可以看到两个臂是同时运行的dual_arm_move_group_interface.setPoseTarget(target_right_arm_pose,right_end_effector_link);dual_arm_move_group_interface.setPoseTarget(target_left_arm_pose,left_end_effector_link);bool dual_success = (dual_arm_move_group_interface.plan(dual_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);if(dual_success){dual_arm_move_group_interface.execute(dual_arm_plan);}
//结束ros::shutdown();return 0;
}

这是官网code API文档介绍：Source Code & API | MoveIt

cmakelist：

cmake_minimum_required(VERSION 3.0.2)
project(dual_arms)## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTSroscppgeometry_msgsmoveit_ros_planning_interfacemoveit_ros_planning
)## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES dual_arms
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include${catkin_INCLUDE_DIRS}
)## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/dual_arms.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/dual_arms_node.cpp)add_executable(demo src/demo.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})add_dependencies(demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )target_link_libraries(demo${catkin_LIBRARIES})
#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_dual_arms.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

效果视频

Moveit+Gazebo：搭建双臂仿真平台（方案一）_哔哩哔哩_bilibili

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