ROS机器人程序设计（原书第2版）补充资料 （拾） 第十章 使用MoveIt!

ROS机器人程序设计（原书第2版）补充资料 （拾） 第十章 使用MoveIt!

书中，大部分出现hydro的地方，直接替换为indigo或jade或kinetic，即可在对应版本中使用。

MoveIt!是进行机器人运动规划的一套工具。具体使用说明，推荐参考官网：

ROSwiki国内镜像：http://ros.exbot.net/wiki/

MoveIt!：http://moveit.ros.org/

安装教程：http://moveit.ros.org/install/

教程（indigo）：http://docs.ros.org/indigo/api/moveit_tutorials/html/

教程（kinetic）：http://docs.ros.org/kinetic/api/moveit_tutorials/html/

本书中简单的通过一个示例介绍了MoveIt!的基本使用。

第264页：

介绍MoveIt!的基本安装。

第265-268页：

介绍MoveIt!的基本概念等。

第269-276页：

在MoveIt!配置一个机械臂。

第277-280页：

简单运动规划。

第281-284页：

考虑碰撞的运动规划。

第285-295页：

一个典型的抓取和放置的示例。

第296页：

本章小节。

推荐阅读：

1 moveit_robots：https://github.com/ros-planning/moveit_robots

2 moveit_tutorials：https://github.com/ros-planning/moveit_tutorials

3 moveit_simple_grasps：https://github.com/davetcoleman/moveit_simple_grasps

4 moveit_visual_tools：https://github.com/ros-planning/moveit_visual_tools

5 moveit_pr2：https://github.com/ros-planning/moveit_pr2

巩固与练习：

1 使用pr2机器人完成一个简单抓取和放置的任务。

ROS补充习题：

Setup Your PC

• PC Setup

Prerequisites

Linux Fundamentals

• Exercise 0.1 - Intro to the Ubuntu GUI
• Exercise 0.2 - The Linux File System
• Exercise 0.3 - Using the Terminal

C++

• MIT Open Courseware: Introduction to C++
• Bruce Eckel: Thinking in C++

Introduction

• Presentation Slides - Introduction

Session 1 - ROS Concepts and Fundamentals

• Presentation Slides - Session 1
• Exercise 1.0 - ROS Setup
• Exercise 1.1 - Create a Workspace
• Exercise 1.2 - Installing (via APT and from Source)
• Exercise 1.3 - Building Packages
• Exercise 1.4 - Topics and Messages

Session 2 - Basic ROS Applications

• Presentation Slides - Session 2
• Exercise 1.5 - Services
• Exercise 1.6 - Actions
• Exercise 1.7 - Basic Launch Files
• Exercise 1.8 - Parameters

Session 3 - Motion Control of Manipulators

• Presentation Slides - Session 3
• Exercise 2.0 - Intro to URDF
• Exercise 2.1 - Workcell XACRO
• Exercise 2.3 - Coordinate Transforms using TF
• Exercise 2.4 - Build a MoveIt Package

Session 4 - Descartes & Perception

• Training Presentation Slides - Session 4
• Exercise 2.5 - Motion Planning using C++
• Exercise 2.6 - Descartes Path Planning
• Exercise 4.4 - Intro. to Perception
• Exercise 4.5 - Building a Perception Pipeline
• Training Presentation Slides - Recap

Session 5 - Addendum

• Presentation Slides - Session 5
• Eclipse Setup - Building an a Eclipse Project using Catkin
• Qt-Creator Setup - Using Qt Creator with Catkin Projects

Resources

• ROS Cheat Sheet

ROS-Industrial Training

Click the appropriate link below for the desired version of ROS:

• Groovy
• Hydro
• Indigo

Setup Your PC

• PC Setup

Prerequisites

Linux Fundamentals

• Exercise 0.1 - Intro to the Ubuntu GUI
• Exercise 0.2 - The Linux File System
• Exercise 0.3 - Using the Terminal

C++

• MIT Open Courseware: Introduction to C++
• Bruce Eckel: Thinking in C++

Introduction

• Presentation Slides - Introduction
• Agenda

Session 1 - ROS Concepts and Fundamentals

• Presentation Slides - Session 1
• Exercise 1.1 - Installing Packages (via APT) and ROS Setup
• Exercise 1.2 - Installing from Source
• Exercise 1.4 - Building Packages
• Exercise 1.5 - Exploring the Parameter Server
• Exercise 1.6 - Topics and Messages

Session 2 - Basic ROS Applications

• Presentation Slides - Session 2
• Exercise 2.1 - Services
• Exercise 2.2 - Creating Actions
• Exercise 2.3 - Basic Launch Files
• Exercise 2.4 - Coordinate Transforms using TF
• Exercise 2.5 - Intro to URDF
• Exercise 2.5b - Workcell XACRO

Session 1A - Industrial Calibration

• Exercise 1A.1 - Calibrate-able URDFs
• Exercise 1A.2 - Moveit Configuration
• Exercise 1A.3 - Calibration Configuration
• Exercise 1A.4 - Running a Calibration

Session 2A - OpenCV

• Presentation Slides - Session 2A
• Exercise 2A.1 - CV Bridge
• Exercise 2A.2 - Pump Image Processing

Session 3 - Motion Control of Manipulators

• Presentation Slides - Session 3
• Exercise 3.1 - Examining a Planning Environment
• Exercise 3.2 - Verify the URDF
• Exercise 3.3 - Build a MoveIt Package
• Exercise 3.4 - Update MoveIt Package for ROS-I
• Exercise 3.5 - Motion Planning using RViz
• Exercise 3.6 - Motion Planning using C++
• Exercise 3.7 - Simple MoveIt application
• UR-5 Demo - Run Motion on UR-5 Robot

Session 4 - Descartes & Perception

• Training Presentation Slides - Session 4
• Exercise 4.1 - Descartes Robot Model
• Exercise 4.2 - Descartes Trajectory Points
• Exercise 4.3 - Descartes Path Planning
• Exercise 4.4 - Intro. to Perception
• Exercise 4.5 - Building a Perception Pipeline

Session 5 - Addendum

• Presentation Slides - Session 5
• Eclipse Setup - Building an a Eclipse Project using Catkin
• Qt-Creator Setup - Using Qt Creator with Catkin Projects

Application Demo - Perception-Driven Manipulation

• Introduction - Perception-Driven Manipulation
• Exercise 1 - Inspect the "pick_and_place_exercise" package
• Exercise 2 - Package Setup
• Exercise 3 - Bring up ROS system in simulation mode
• Exercise 4.1: Node Implementation - Inspect initialization and global variables
• Exercise 4.2: Node Implementation - Move arm to wait position
• Exercise 4.3: Node Implementation - Open gripper
• Exercise 4.4: Node Implementation - Detect box pick point
• Exercise 4.5: Node Implementation - Create pick moves
• Exercise 4.6: Node Implementation - Pick up box
• Exercise 4.7: Node Implementation - Create place moves
• Exercise 4.8: Node Implementation - Place box

Application Demo - Descartes Planning and Execution

• Introduction - Application overview
• Structure - Inspect the application packages and files
• Setup - Eclipse Setup
• General Instructions - Implementing the plan_and_run node
• Exercise 1: Node Implementation - Load Parameters
• Exercise 2: Node Implementation - Initialize ROS
• Exercise 3: Node Implementation - Initialize Descartes
• Exercise 4: Node Implementation - Move Home
• Exercise 5: Node Implementation - Generate a Semi-Constrained trajectory
• Exercise 6: Node Implementation - Plan a robot path
• Exercise 7: Node Implementation - Run the robot path

Resources

• ROS Cheat Sheet