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Starai Arm 机械臂ROS2 Moveit 使用教程

环境依赖​

No LSB modules are available.

Distributor ID: Ubuntu

Description: Ubuntu 22.04.5 LTS

Release: 22.04

Codename: Jammy

ROS2: Humble

安装ROS2 Humble​

ROS2 Humble 安装指南

安装Moveit2​

sudo apt install ros-humble-moveit*

安装舵机SDK库​

sudo pip install pyserial
sudo pip install fashionstar-uart-sdk

创建工作空间并初始化​

mkdir -p ~/starai_ws/src
cd ~/starai_ws
colcon build

克隆starai-arm-moveit2功能包​

cd ~/starai_ws/src
git clone https://github.com/Welt-liu/starai-arm-moveit2.git
cd ~/starai_ws
colcon build
echo "source ~/starai_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Starai Arm Moveit2仿真脚本​

ros2 launch viola_configure demo.launch.py

使用真实的机械臂​

终端1:开启手臂控制节点​

手臂会移动到零位。

ros2 run robo_driver driver

开启控制器节点​

ros2 run viola_controller controller

启动moveit2​

ros2 launch viola_configure actual_robot_demo.launch.py

FAQ​

  • 如果rivz2界面出现频闪，可以尝试以下指令:

    export QT_AUTO_SCREEN_SCALE_FACTOR=0
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