在UR5机械臂末端添加robotiq 2f 85夹爪并在Gazebo中仿真

原文连接: 在UR5机械臂末端添加robotiq 2f 85夹爪并在Gazebo中仿真

需求

在UR5机械臂末端添加robotiq 2f 85夹爪并在Gazebo中仿真

环境

ubuntu20.04 + ROS1 noetice

准备工作

  1. 创建工作空间 
    mkdir -p catkin_UR5/src
  2. 进入catkin_UR5/src目录，分别下载机械臂和夹爪对应的功能包 
    cd ~/catkin_UR5/src
git clone https://github.com/ros-industrial/universal_robot.git
git clone https://github.com/jr-robotics/robotiq.git
  3. 进入catkin_UR5工作空间目录，检查依赖关系并编译 
    cd ~/catkin_UR5
sudo rosdepc init
rosdepc update --rosdistro=noetic
rosdepc install --rosdistro noetic --ignore-src --from-paths src
catkin_make

机械臂末端添加夹爪

修改夹爪功能包robotiq_2f_85_gripper_visualization

  1. 打开robotiq_arg2f_85_macro.xacro，其路径如下

    catkin_UR5/src/robotiq/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro

  2. 注释或删除掉第196-200行的代码

    这主要是因为功能包中默认夹爪的父级是base_link，而要将夹爪安装在机械臂末端，它的父级应该是机械臂末端的tool0。当然，如果要单独仿真夹爪，则需要取消这个注释。

    195 <!-- base link -->
196 <!-- <link name="${prefix}base_link"/>
197 <joint name="${prefix}base_link-${prefix}robotiq_arg2f_base_link" type="fixed">
198     <parent link="${prefix}base_link" />
199     <child link="${prefix}robotiq_arg2f_base_link" />
200 </joint> -->

修改夹爪功能包robotiq_2f_85_gripper_gazebo

  1. 打开robotiq_arg2f_85_macro.xacro，其路径如下

    catkin_UR5/src/robotiq/src/robotiq/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro

  2. 注释或删除掉第102-105行的代码

    这主要是因为在catkin_UR5/src/universal_robot/ur_gazebo/urdf/ur_macro.xacro中已经添加了这个插件，因此不再重复添加。

    98  <!--
99  Inject Gazebo ROS Control plugin, which allows us to use ros_control
100 controllers to control the virtual robot hw.
101 -->
102 <!-- <gazebo>
103 <plugin name="ros_control" filename="libgazebo_ros_control.so">
104 </plugin>
105 </gazebo> -->

添加夹爪

  1. 打开ur.xacro，其路径如下 
    catkin_UR5/src/universal_robot/ur_gazebo/urdf/ur.xacro
  2. 注释掉文件末尾的如下代码 
    <!-- <link name="tool0_controller"/>
<joint name="tool_controller_fake_joint" type="fixed">
    <parent link="tool0"/>
    <child link="tool0_controller"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint> -->
  3. 然后在文件末尾添加如下代码 
    <!--继承robotiq_arg2f_85宏-->
<xacro:include filename="$(find robotiq_2f_85_gripper_gazebo)/urdf/robotiq_arg2f_85_macro.xacro"/>
<!--定义fixed关节，将robotiq_arg2f_base_link连接到机械臂末端的tool0-->
<joint name="ur_robotiq_joint" type="fixed">
    <parent link="tool0"/>
    <child link="robotiq_arg2f_base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<!--调用robotiq_arg2f_85，加入夹爪的link和joint-->
<xacro:robotiq_arg2f_85_gazebo 
    prefix=""
    transmission_hw_interface="$(arg transmission_hw_interface)"
/>
    最终，ur.xacro文件中的完整代码如下 
    <?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot">
<!--
    This is a top-level xacro instantiating the Gazebo-specific version of the
    'ur_robot' macro (ie: 'ur_robot_gazebo') and passing it values for all its
    required arguments.

    This file should be considered the Gazebo-specific variant of the file
    with the same name in the ur_description package. It accepts the same
    arguments, but instead of configuring everything for a real robot, will
    generate a Gazebo-compatible URDF with a ros_control hardware_interface
    attached to it.

    Only use this top-level xacro if you plan on spawning the robot in Gazebo
    'by itself', without any gripper or any other geometry attached.

    If you need to attach an end-effector, camera or need to integrate the
    robot into a larger workcell and want to spawn that as a single entity in
    Gazebo, DO NOT EDIT THIS FILE.

    Instead: create a new top-level xacro, give it a proper name, include the
    required '.xacro' files, instantiate the models (ie: call the macros) and
    connect everything by adding the appropriate joints.
-->

<!--
    Import main macro.

    NOTE: this imports the Gazebo-wrapper main macro, NOT the regular
        xacro macro (which is hosted by ur_description).
-->
<xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>

<!--Declare arguments -->
<xacro:arg name="joint_limit_params" default=""/>
<xacro:arg name="physical_params" default=""/>
<xacro:arg name="kinematics_params" default=""/>
<xacro:arg name="visual_params" default=""/>
<!--
    legal values:
    - hardware_interface/PositionJointInterface
    - hardware_interface/VelocityJointInterface
    - hardware_interface/EffortJointInterface

    NOTE: this value must correspond to the controller configured in the
        controller .yaml files in the 'config' directory.
-->
<xacro:arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface"/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
<xacro:arg name="safety_k_position" default="20"/>

<!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
<xacro:ur_robot_gazebo
    prefix=""
    joint_limits_parameters_file="$(arg joint_limit_params)"
    kinematics_parameters_file="$(arg kinematics_params)"
    physical_parameters_file="$(arg physical_params)"
    visual_parameters_file="$(arg visual_params)"
    transmission_hw_interface="$(arg transmission_hw_interface)"
    safety_limits="$(arg safety_limits)"
    safety_pos_margin="$(arg safety_pos_margin)"
    safety_k_position="$(arg safety_k_position)"
/>

<!--
    Attach the Gazebo model to Gazebo's world frame.

    Note: if you're looking to integrate a UR into a larger scene and need
    to add EEFs or other parts, DO NOT change this file or the 'world' link
    here. Create a NEW xacro instead and decide whether you need to add
    a 'world' link there.
-->
<link name="world"/>
<joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<!--继承robotiq_arg2f_85宏-->
<xacro:include filename="$(find robotiq_2f_85_gripper_gazebo)/urdf/robotiq_arg2f_85_macro.xacro"/>
<!--定义fixed关节，将robotiq_arg2f_base_link连接到机械臂末端的tool0-->
<joint name="ur_robotiq_joint" type="fixed">
    <parent link="tool0"/>
    <child link="robotiq_arg2f_base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<!--调用robotiq_arg2f_85，加入夹爪的link和joint-->
<xacro:robotiq_arg2f_85_gazebo 
    prefix=""
    transmission_hw_interface="$(arg transmission_hw_interface)"
/>

<!-- <link name="tool0_controller"/>
<joint name="tool_controller_fake_joint" type="fixed">
    <parent link="tool0"/>
    <child link="tool0_controller"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint> -->
</robot>

设置夹爪的控制器

  1. 参考官方给出的夹爪控制器配置文件，其路径如下

    catkin_UR5/src/robotiq/robotiq_2f_85_gripper_gazebo/config/robotiq_2f_85_gripper_controllers.yaml

    可以看到如下内容：

    joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 125

gripper_controller:
type: effort_controllers/GripperActionController
gains:
    finger_joint: {p: 10,  d: 0.1, i: 1, i_clamp: 1}
joint: finger_joint 
action_monitor_rate: 20
goal_tolerance: 0.002
max_effort: 100
stall_velocity_threshold: 0.001
stall_timeout: 1.0

  2. 复制“gripper_controller:”及其下方内容到ur5_controllers.yaml中，ur5_controllers.yaml的文件路径如下

    catkin_UR5/src/universal_robot/ur_gazebo/config/ur5_controllers.yaml

  3. 修改gripper_controller的类型和关节，如下

    gripper_controller:
type: effort_controllers/JointTrajectoryController  #修改控制器类型
gains:
    finger_joint: {p: 10,  d: 0.1, i: 1, i_clamp: 1}
joints:             #修改关节
    - finger_joint  #修改关节
action_monitor_rate: 20
goal_tolerance: 0.002
max_effort: 100
stall_velocity_threshold: 0.001
stall_timeout: 1.0

  4. 最终，完整的ur5_controllers.yaml内容如下：

    joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 125

eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
gains: # Required because we're controlling an effort interface
    shoulder_pan_joint: {p: 4000,  d: 200, i: 1, i_clamp: 1}
    shoulder_lift_joint: {p: 10000,  d: 200, i: 1, i_clamp: 1}
    elbow_joint: {p: 2000,  d: 20, i: 1, i_clamp: 1}
    wrist_1_joint: {p: 500,  d: 1, i: 1, i_clamp: 1}
    wrist_2_joint: {p: 500,  d: 1, i: 1, i_clamp: 1}
    wrist_3_joint: {p: 10,  d: 0.1, i: 0, i_clamp: 1} 
constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.05
    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
    elbow_joint: {trajectory: 0.1, goal: 0.1}
    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: *loop_hz
action_monitor_rate: 10

gripper_controller:
type: effort_controllers/JointTrajectoryController
gains:
    finger_joint: {p: 10,  d: 0.1, i: 1, i_clamp: 1}
joints: 
    - finger_joint 
action_monitor_rate: 20
goal_tolerance: 0.002
max_effort: 100
stall_velocity_threshold: 0.001
stall_timeout: 1.0

joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints

  5. 打开ur5_bringup.launch文件，其路径如下

    catkin_UR5/src/universal_robot/ur_gazebo/config/ur5_controllers.yaml

  6. 修改ur5_bringup.launch文件中controllers参数值，启动三个控制器：关节状态发布、机械臂关节控制、夹爪关节控制。

    <arg name="controllers" default="joint_state_controller eff_joint_traj_controller gripper_controller" doc="Controllers that are activated by default."/>

  7. 夹爪防抖(可选)

    我在第一次启动仿真的时候抖过一次，但是后来就没再发现抖动，因此个人认为这一步如果出现抖动就可以做一下，如果没有抖动问题就可以忽略。

    在catkin_UR5/src/robotiq/robotiq_2f_85_gripper_gazebo/config/文件夹下新建gazebo_controller.yaml，并添加如下内容：

    # Note: You MUST load these PID parameters for all joints that are using the
# PositionJointInterface, otherwise the arm + gripper will act like a giant
# parachute, counteracting gravity, and causing some of the wheels to lose
# contact with the ground, so the robot won't be able to properly navigate. See
# https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
ros_control:
pid_gains:
    # these gains are used by the gazebo_ros_control plugin
    finger_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true
    # the following gains are used by the gazebo_mimic_joint plugin
    left_inner_knuckle_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true

    left_inner_finger_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true

    right_outer_knuckle_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true

    right_inner_knuckle_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true

    right_inner_finger_joint:
    p: 20.0
    i: 0.1
    d: 0.0
    i_clamp: 0.2
    antiwindup: false
    publish_state: true

    在ur5_bringup.launch中加载夹爪的pid参数

    <rosparam file="$(find robotiq_2f_85_gripper_gazebo)/config/gazebo_controller.yaml" command="load" />

在gazebo中仿真带有夹爪的机械臂

  1. 为了实现对机械臂和夹爪的控制，使用rqt_joint_trajectory_controller自带的gui_controller控制机械臂关节。在上述ur5_bringup.launch文件中，添加控制节点如下

    <node name="gui_controller" pkg="rqt_joint_trajectory_controller" type="rqt_joint_trajectory_controller" />

    至此，ur5_bringup.launch文件的完整内容如下

    <?xml version="1.0"?>
<launch>
<!--
    Main entry point for loading a single UR5 into Gazebo, in isolation, in the
    empty world.

    A set of ros_control controllers similar to those loaded by ur_robot_driver
    will be loaded by 'ur_control.launch.xml' (note: *similar*, *not* identical).

    This bringup .launch file is intentionally given the same name as the one in
    the ur_robot_driver package, as it fulfills a similar role: loading the
    configuration and starting the necessary ROS nodes which in the end provide
    a ROS API to a Universal Robots UR5. Only in this case, instead of a real
    robot, a virtual model in Gazebo is used.

    NOTE 1: as this is not a real robot, there are limits to the faithfulness
    of the simulation. Dynamic behaviour will be different from a real robot.
    Only a subset of topics, actions and services is supported. Specifically,
    interaction with the Control Box itself is not supported, as Gazebo does not
    simulate a Control Box. This means: no Dashboard server, no URScript topic
    and no force-torque sensor among other things.

    NOTE 2: users wishing to integrate a UR5 with other models into a more
    complex simulation should NOT modify this file. Instead, if it would be
    desirable to reuse this file with a custom simulation, they should create a
    copy and update this copy so as to accomodate required changes.

    In those cases, treat this file as an example, showing one way how a Gazebo
    simulation for UR robots *could* be launched. It is not necessary to mimic
    this setup completely.
-->

<!--Robot description and related parameter files -->
<arg name="robot_description_file" default="$(dirname)/inc/load_ur5.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
<arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
<arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
<arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
<arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>

<!-- Controller configuration -->
<arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<!-- 启动三个控制器：关节状态发布、机械臂关节控制、夹爪关节控制 -->
<arg name="controllers" default="joint_state_controller eff_joint_traj_controller gripper_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>

<!-- 加载夹爪的pid参数，如果不添加这一步，仿真环境中夹爪会一直抖动 -->
<!-- <rosparam file="$(find robotiq_2f_85_gripper_gazebo)/config/gazebo_controller.yaml" command="load" /> -->

<!-- robot_state_publisher configuration -->
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>

<!-- Gazebo parameters -->
<arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
<arg name="gui" default="true" doc="Starts Gazebo gui" />

<!-- Load urdf on the parameter server -->
<include file="$(arg robot_description_file)">
    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
    <arg name="physical_params" value="$(arg physical_params)"/>
    <arg name="visual_params" value="$(arg visual_params)"/>
</include>

<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
    <param name="tf_prefix" value="$(arg tf_prefix)" />
</node>

<!-- 添加控制节点 -->
<node name="gui_controller" pkg="rqt_joint_trajectory_controller" type="rqt_joint_trajectory_controller" />

<!-- Start the 'driver' (ie: Gazebo in this case) -->
<include file="$(dirname)/inc/ur_control.launch.xml">
    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
    <arg name="controllers" value="$(arg controllers)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
</include>
</launch>

  2. 在catkin_UR5工作空间目录下，激活工作空间，并启动相应的launch文件

    cd ~/catkin_UR5
source ./devel/setup.bash
roslaunch ur_gazebo ur5_bringup.launch

    如果出现如下类似报错

    ERROR: cannot launch node of type [rqt_joint_trajectory_controller/rqt_joint_trajectory_controller]: rqt_joint_trajectory_controller
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/tianming/catkin_UR5/src
ROS path [2]=/opt/ros/noetic/share

    说明没有安装rqt_joint_trajectory_controller，使用如下命令安装即可

    sudo apt-get install ros-noetic-rqt-joint-trajectory-controller

    gazebo启动后，可以看到机械臂成功添加夹爪，拖动gui的滚动条可以实现对机械臂关节和夹爪的控制。
    在这里插入图片描述

附录A 查看并修改文件的一些技巧

  1. 如何知道应该修改哪些文件

    首先应该对Universal Robots的相关功能包有一定了解，打开UR功能包的github链接

    https://github.com/ros-industrial/universal_robot

    可以看到如下的文件结构

    在这里插入图片描述

    从中可以找到用于ur5机械臂gazebo仿真的launch文件，即：

    universal_robot/ur_gazebo/launch/ur5_bringup.launch

    查看该文件，可以发现它包含了load_ur5.launch.xml：

    <!--Robot description and related parameter files -->
<arg name="robot_description_file" default="$(dirname)/inc/load_ur5.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>

<!-- Load urdf on the parameter server -->
<include file="$(arg robot_description_file)">
    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
    <arg name="physical_params" value="$(arg physical_params)"/>
    <arg name="visual_params" value="$(arg visual_params)"/>
</include>

    因此，继续查看load_ur5.launch.xml文件，可以发现它包含了load_ur.launch.xml：

    <!-- Use common launch file and pass all arguments to it -->
<include file="$(dirname)/load_ur.launch.xml" pass_all_args="true">
    <arg name="robot_model" value="ur5" />
</include>

    进一步查看load_ur.launch.xml文件，发现其加载的模型为ur_gazebo功能包下的urdf/ur.xacro：

    <param name="robot_description" command="$(find xacro)/xacro '$(find ur_gazebo)/urdf/ur.xacro'
    robot_model:=$(arg robot_model)
    joint_limit_params:=$(arg joint_limit_params)
    kinematics_params:=$(arg kinematics_params)
    physical_params:=$(arg physical_params)
    visual_params:=$(arg visual_params)
    transmission_hw_interface:=$(arg transmission_hw_interface)
    safety_limits:=$(arg safety_limits)
    safety_pos_margin:=$(arg safety_pos_margin)
    safety_k_position:=$(arg safety_k_position)"
    />

    查看ur.xacro文件，发现创建用于gazebo仿真的机械臂的代码就在此文件中：

    <!--
    Import main macro.

    NOTE: this imports the Gazebo-wrapper main macro, NOT the regular
        xacro macro (which is hosted by ur_description).
-->
<xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>

<!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
<xacro:ur_robot_gazebo
    prefix=""
    joint_limits_parameters_file="$(arg joint_limit_params)"
    kinematics_parameters_file="$(arg kinematics_params)"
    physical_parameters_file="$(arg physical_params)"
    visual_parameters_file="$(arg visual_params)"
    transmission_hw_interface="$(arg transmission_hw_interface)"
    safety_limits="$(arg safety_limits)"
    safety_pos_margin="$(arg safety_pos_margin)"
    safety_k_position="$(arg safety_k_position)"
/>

    此时初步确定，可以在此文件中创建机械臂的代码后面添加夹爪相关代码。进一步查看ur_gazebo功能包下的urdf/ur_macro.xacro文件，可以发现它是先用ur_description功能包下的/urdf/inc/ur_macro.xacro提供的宏函数ur_robot进行机械臂的创建，然后又添加的gazebo相关的代码。因此描述机械臂的代码路径为

    universal_robot/ur_description/urdf/inc/ur_macro.xacro

    接下来就是夹爪应该添加在机械臂的哪个link上，所以我们需要了解机械臂的结构。机械臂的创建使用了宏函数，而该宏函数来自于ur_description功能包下的/urdf/inc/ur_macro.xacro，通过阅读该宏函数，我们可以发现，夹爪应该添加在名为tool0的link上。此外，还可以在添加夹爪前，通过rviz显示机械臂：

    cd ~/catkin_UR5
source ./devel/setup.bash
roslaunch ur_description view_ur5.launch

    在rviz中可以查看机械臂的层级关系

    下图是安装夹爪后的层级关系，可以看到机械臂的末端为tool0

    查看夹爪的结构同理。带有夹爪的机械臂结构如下

    它们分别对应的link和joint名称为

    底座 ----------------> ${prefix}base_link
肩连杆与底座的关节 ---> ${prefix}shoulder_pan_link
肩连杆 --------------> ${prefix}shoulder_link
肩关节 --------------> ${prefix}shoulder_lift_joint
上臂 ----------------> ${prefix}upper_arm_link
肘关节 --------------> ${prefix}elbow_joint   
前臂 ----------------> ${prefix}forearm_link
腕关节1 -------------> ${prefix}wrist_1_joint
腕连杆1 -------------> ${prefix}wrist_1_link
腕关节2 -------------> ${prefix}wrist_2_joint
腕连杆2 -------------> ${prefix}wrist_2_link
腕关节3 -------------> ${prefix}wrist_3_joint
腕连杆3 -------------> ${prefix}wrist_3_link
末端:法兰盘和空工具 --> ${prefix}flange和${prefix}tool0(连接夹爪)

    最终，我们可以在universal_robot/ur_gazebo/urdf/ur.xacro文件中添加夹爪。

    至于控制功能，同样可以从universal_robot/ur_gazebo/launch/ur5_bringup.launch回溯找到；universal_robot/ur_gazebo/config文件夹下的配置文件夹下有ur5_controllers.yaml也很明显是机械臂控制相关的配置，我们可以在里面增加有关夹爪的控制配置。

附录B 关于我参考的一些教程

参考教程里面最多的可能就是robotiq夹爪存在被动关节(Mimic Joint)，标准Gazebo不支持Mimic关节仿真， 所以需要安装一个插件。但现在robotiq官方已经解决了这个问题，而且用的是最新的插件，所以不再需要关心这件事情了。

参考

  1. 本文之后，世上再无rosdep更新失败问题！如果有…小鱼就…
  2. rosdepc update常见错误及解决方案
  3. UR5机械臂仿真实例（三）2 末端添加robotiq夹爪[ubuntu20.04+ROSnoetic+gazebo11]
  4. 【Autolabor初级教程】ROS机器人入门

 

posted @   猴子吃桃_Q  阅读(116)  评论(0)  编辑  收藏  举报
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