USB2 dynamixel+moveit控制AX-12A机械臂

环境

需要的package

说明

1. dynamixel_motor包是专门提供给USB2 dynamixel的，可以通过这个教程创建moveit所需要的server，（start_meta_controller.launch)
2. ros_by_example2里面有说一句，arbotix的包可以支持USB2 Dynamixel 和arbotix两种控制器，查看ros wiki中arbotix_ros中确实有说过当硬件是USB2 dynamixel时，需要把read/write当中的一个参数改为False，onbroad也得是false，波特率我也修改成1000000， ------------>尝试使用arbotix_ros控制dynamixel电机，但是结果是moveit当中规划成功了，显示执行完成，实际上电机没动，查看图发现arbotix节点没有跟机械臂通讯成功（以后可以再试试）
3. 注意 start_meta_controller.launch当中的f_arm_controller是跟moveit中需要创建的controllers.yaml中的name相匹配
4. turtlebot_arm这个包是通过arbotix来控制，我是使用USB2 dynamixel控制，arm的控制是通过 FollowJointTrajectory。gripper的话，在未改动的controllers.yaml文件当中是用一个gripper command来完成的，折腾了半天没能跟USB2 dynamixel跑成功，索性也用 FollowJointTrajectory这个吧23333333333
5. 还有一些功能没有完成，比如controller_manager节点还没有跟/joint_state连接，还有很多没有完成，现在的进度是在实体机械臂上可以运行turtlebot_arm/turtlebot_arm_moveit_demo中的pick_and_place.py。
6. 所使用的my_dynamixel_tutorial包是跟着dynamixel_motor的教程创建的，由于moveit当中，gripper跟arm是两个规划组，所以在这里面重要的是tilt.yaml(给手臂的四个电机）跟till.yaml(给gripper的一个电机）
7. 关于gripper调用的arbotix包还没有搞清楚
8. 我写的好乱，但是！！大丈夫！！！稍后上传github

运行

1. 将USB2 dynamixel连接到电脑上，舵机供电
2. roslaunch my_dynamixel_tutorial controller_manager.launch
   出现：
   [INFO] [1543806253.032527]: pan_tilt_port: Pinging motor IDs 1 through 25…
   [INFO] [1543806255.402648]: pan_tilt_port: Found 5 motors - 5 AX-12 [1, 2, 3, 4, 5], initialization complete.
   表示通讯成功
3. roslaunch my_dynamixel_tutorial start_meta_controller.launch
   出现：
   process[controller_spawner_meta-2]: started with pid [29927]
   [INFO] [1543806263.730556]: pan_tilt_port controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace…
   [INFO] [1543806263.742506]: pan_tilt_port controller_spawner: All services are up, spawning controllers…
   [INFO] [1543806263.751917]: meta controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace…
   [INFO] [1543806263.756131]: meta controller_spawner: All services are up, spawning controllers…
   [INFO] [1543806263.779993]:
   [INFO] [1543806263.876295]: Controller arm_shoulder_pan_joint successfully started.
   [INFO] [1543806263.958328]: Controller arm_shoulder_lift_joint successfully started.
   [controller_spawner_meta-2] process has finished cleanly
   log file: /home/xingyi/.ros/log/1865a62a-f6a8-11e8-8a1d-54271eb20f16/controller_spawner_meta-2*.log
   [INFO] [1543806264.043534]: Controller arm_elbow_flex_joint successfully started.
   [INFO] [1543806264.145492]: Controller arm_wrist_flex_joint successfully started.
   [controller_spawner-1] process has finished cleanly
   log file: /home/xingyi/.ros/log/1865a62a-f6a8-11e8-8a1d-54271eb20f16/controller_spawner-1*.log
   all processes on machine have died, roslaunch will exit
   shutting down processing monitor…
   … shutting down processing monitor complete
   done
   成功
   这时rostopic list就可以看到
   /arm_elbow_flex_joint/command
   /arm_elbow_flex_joint/state
   /arm_shoulder_lift_joint/command
   /arm_shoulder_lift_joint/state
   /arm_shoulder_pan_joint/command
   /arm_shoulder_pan_joint/state
   /arm_wrist_flex_joint/command
   /arm_wrist_flex_joint/state
   /diagnostics
   /f_arm_controller/command
   /f_arm_controller/follow_joint_trajectory/cancel
   /f_arm_controller/follow_joint_trajectory/feedback
   /f_arm_controller/follow_joint_trajectory/goal
   /f_arm_controller/follow_joint_trajectory/result
   /f_arm_controller/follow_joint_trajectory/status
   /f_arm_controller/state
   /motor_states/pan_tilt_port
   /rosout
   /rosout_agg
   说明：/state /state前面的arm什么什么的是跟tilt.yaml中对应的
   另外在运行这个的时候，controller_manager.launch终端可能会出现一些warn，类似于 [f_arm_controller] not all dependencies started, still waiting for [‘arm_elbow_flex_joint’, ‘arm_shoulder_lift_joint’, ‘arm_shoulder_pan_joint’, ‘arm_wrist_flex_joint’]…这个时候不用管他
4. roslaunch my_dynamixel_tutorial start_meta_controller2.launch
   再次查看topic list会看到增加了
   /b_arm_controller/command
   /b_arm_controller/follow_joint_trajectory/cancel
   /b_arm_controller/follow_joint_trajectory/feedback
   /b_arm_controller/follow_joint_trajectory/goal
   /b_arm_controller/follow_joint_trajectory/result
   /b_arm_controller/follow_joint_trajectory/status
   /b_arm_controller/state

5. roslaunch turtlebot_arm_moveit_config demo.launch
   最后会出现You can start planning now!表示运行成功
6. rosrun turtlebot_arm_moveit_demos pick_and_place.py
   这时候舵机和moveit中的界面都会动
7. rrqt_graph待补充

相关链接