Moveit主要launch及其配置

参数配置

设定一系列变量及其默认值，并设定参数，后面引用其他launch文件传入参数需要用到。其中需要注意的是robot_description参数（urdf文件路径）虽然后面没有显性引用，但在其他launch文件里面需要用到，需要在调用之前设定好。

注：MoveIt Setup Assistant生成的demo_gazebo.launch文件中将路径设置为了生成moveit_config文件所用的那个xacro文件，但实际上应设为MoveIt Setup Assistant设置过程中在simulation窗口下生成的urdf代码对应的文件的路径（自己新建一个urdf文件并把内容粘贴进去）。

<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we won't load or override the robot_description -->
<arg name="load_robot_description" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find motoman_gazebo)/config/mh12_gazebo.urdf"/>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />

move_group

启动move_group相关节点控制机器人。

<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find motoman_mh12_moveit_config)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="false"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>

moveit_rviz

启动rviz查看机器人状态。

<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find motoman_mh12_moveit_config)/launch/moveit_rviz.launch">
    <arg name="rviz_config" value="$(find motoman_mh12_moveit_config)/launch/moveit.rviz"/>
    <arg name="debug" value="$(arg debug)"/>
</include>

整个launch文件

<launch>
    <!-- By default, we are not in debug mode -->
    <arg name="debug" default="false" />
    <!-- By default, we won't load or override the robot_description -->
    <arg name="load_robot_description" default="false"/>
    <!-- By default, use the urdf location provided from the package -->
    <arg name="urdf_path" default="$(find motoman_gazebo)/config/mh12_gazebo.urdf"/>
    <!-- send robot urdf to param server -->
    <param name="robot_description" textfile="$(arg urdf_path)" />

    <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
    <include file="$(find motoman_mh12_moveit_config)/launch/move_group.launch">
        <arg name="allow_trajectory_execution" value="true"/>
        <arg name="fake_execution" value="false"/>
        <arg name="info" value="true"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="load_robot_description" value="$(arg load_robot_description)"/>
    </include>

    <!-- Run Rviz and load the default config to see the state of the move_group node -->
    <include file="$(find motoman_mh12_moveit_config)/launch/moveit_rviz.launch">
        <arg name="rviz_config" value="$(find motoman_mh12_moveit_config)/launch/moveit.rviz"/>
        <arg name="debug" value="$(arg debug)"/>
    </include>
</launch>