Complete guide to using ROS with MoveIt!

本课程专为具有一定 ROS 经验并希望使用 ROS 控制机械臂的学生设计。本课程教授如何通过真正的机械臂从头到尾实际使用 MoveIt。这是关于创建硬件接口以使真实机器人与 MoveIt 无缝工作的最全面的课程。

我从 MoveIt 设置助手的基础知识开始，这是一个简单的向导应用程序，用于向 MoveIt 软件描述实际机器人的物理特性。然后，我使用模板化方法来创建使用 ROS Control 构建的自定义硬件接口。该硬件接口通过利用 ROS Control 将 MoveIt 路径规划转换为实时关节命令的能力，在 ROS 和真实机器人之间提供直接链接。

本课程是使用直接连接到 Arduino 类型微控制器的工业 Aubo 机器人开发的。由于 Arduino 接口，本课程直接适用于任何可以使用一系列关节命令控制的机器人——无论是工业机器人还是 DIY 机器人。

我创建了这门课程，因为当我在实际机器人中使用 MoveIt 的过程时，我很惊讶几乎没有文档可以引导你完成整个过程。这门课程是我试图满足这一需求的尝试。

Bring a robot arm to life with MoveIt and ROS Control!

Published 05/2022
MP4 | Video: h264, 1280×720 | Audio: AAC, 44.1 KHz, 2 Ch
Genre: eLearning | Language: English + srt | Duration: 14 lectures (1h 50m) | Size: 1.13 GB

What you’ll learn

• High-Level Overview of Moveit
• MoveIt Setup Assistant
• Understanding ROS Control
• Create your own Hardware Interface

Requirements

ROS basics
C++

Description

This course is designed for students with some ROS experience and who are wanting to use ROS to control a robotic arm. This course teaches how to actually use MoveIt – from start to finish- with a real robot arm. This is the most comprehensive course on creating a hardware interface to enable real robots to work seamlessly with MoveIt.

I begin with the basics of the MoveIt Setup Assistant, which is a simple wizard application for describing the physical characteristics of your actual robot to the MoveIt software. I then use a templated approach to creating a custom hardware interface built with ROS Control. This hardware interface provides the direct link between ROS and the real robot by leveraging ROS Control’s ability to transform MoveIt path planning into real-time joint commands.

This course has been developed using a industrial Aubo robot which is directly interfaced to and Arduino type microcontroller. Because of the Arduino interface, this course is directly applicable to any robot – wether it is industrial or DIY – that can be controlled using a series joint commands.

I have created this course because when I was working through the process of using MoveIt with an actual robot, I was surprised that there is almost no documentation that walks you through the entire process. This course is my attempt to fill this need.

Who this course is for

• Robot enthusiast
• Robot developer
• Robotics Engineer
• College Students studying robotics