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How to combine AUBO robot and gripper to motion planning

Description: Through this tutorial, you can combine the claws with the AUBO robot for motion planning.

Tutorial Level: INTERMEDIATE

Note: The default user has generated the moveit_config function package by moveit_setup_assistant, and sets the arm to a group, and the gripper is a group (note that the gripper grouping cannot select the kinematics solver: KDL)

1. Delete the file that has been generated by moveit_setup_assistant in the ${new robot name}_moveit_config/launch :

•   ${robot_name}_moveit_config/launch/$(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch.xml

2. Copy the following files of the aubo robot configuration package (take i5 as an example) to the ${new robot name}_moveit_config/config or ${new robot name}_moveit_config:

•  Aubo_i5_moveit_config/config/controllers.yaml
  
   Aubo_i5_moveit_config/config/joint_names.yaml
  
   Aubo_i5_moveit_config/launch/moveit_planning_execution.launch
  
   Aubo_i5_moveit_config/launch/aubo_i5_moveit_controller_manager.launch.xml
  
   Aubo_i5_moveit_config/launch/aubo_i5_moveit_controller_manager.launch

3. Change the name of the file just copied

•  (1) aubo_i5_moveit_controller_manager.launch.xml is changed to
  
       $(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch.xml
  
   (2) aubo_i5_moveit_controller_manager.launch is changed to
  
       $(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch

4. Modify

•   Modify $(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch.xml file:
  
    <include file="$(find "package_name")/launch/$(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch" />
  
  ---------------------------------------------------------------------
  
    Modify $(the name of the parameter moveit_controller_manager in the trajectory_execution.launch.xml file)_moveit_controller_manager.launch file:
  
    <rosparam file="$(find "package_name")/config/controllers.yaml"/>
  
  ---------------------------------------------------------------------
  
   Modify the moveit_planning_execution.launch file:
  
   <rosparam command="load" file="$(find "package_name")/config/joint_names.yaml" />
  
   <include file="$(find "package_name")/launch/planning_context.launch">
  
   <include file="$(find "package_name")/launch/move_group.launch">
  
   <include file="$(find "package_name")/launch/moveit_rviz.launch">

5. Run the moveit_planning_execution.launch file and select the motion planning group of rviz as the robot arm.The following warning will appear:

WARNING: The complete state of the robot is not yet know . missing some joint

The reason is that the gripper joint in the robot description file is of the rotation type . The aubo_controller currently only cares about the joint data of the robot itself and does not publish the data about the gripper (because the grippers are not unique), but this has little effect on the actual control of the gripper. You can individually control the opening and closing of the gripper by writing a node.

( If you don't want to see the warning, you can change the joint type of the gripper to fixed, which only affects the simulation display )