Moveit + Gazebo实现联合仿真：ABB yumi双臂机器人（ 二、双臂协同运动实现 ）

1. 安装并配置好ROS、MoveIt和Gazebo。

2. 导入ABB YuMi双臂机器人模型到Gazebo。

3. 使用MoveIt配置双臂机器人的URDF文件。

4. 编写一个Python脚本来实现双臂协同运动。

以下是一个简单的Python脚本示例，用于实现ABB YuMi双臂机器人的协同运动：

```python

#!/usr/bin/env python

# -*- coding: utf-8 -*-

import sys

import rospy

import moveit_commander

from moveit_msgs.msg import PlanningScene, PlanningSceneWorldReference

from gazebo_msgs.srv import SpawnModel, DeleteModel

from geometry_msgs.msg import PoseStamped

def main():

   # 初始化节点

   rospy.init_node('yumi_dual_arm_moveit', anonymous=True)

   # 初始化MoveIt指挥官

   moveit_commander.roscpp_initialize(sys.argv)

   # 创建双臂机器人的MoveGroupCommander对象

   left_arm = moveit_commander.MoveGroupCommander("left_manipulator")

   right_arm = moveit_commander.MoveGroupCommander("right_manipulator")

   # 添加双臂机器人到规划场景

   planning_scene = PlanningScene()

   scene_world_reference = PlanningSceneWorldReference()

   scene_world_reference.header.frame_id = "base_link"

   planning_scene.world_reference = scene_world_reference

   planning_scene.robot_states = [left_arm.get_current_state(), right_arm.get_current_state()]

   moveit_commander.planning_scene.publish(planning_scene)

   # 设置目标姿态

   target_pose = PoseStamped()

   target_pose.header.frame_id = "base_link"

   target_pose.pose.position.x = 0.5

   target_pose.pose.position.y = 0.0

   target_pose.pose.position.z = 0.5

   target_pose.pose.orientation.w = 1.0

   # 设置目标约束

   left_constraint = moveit_commander.Constraints()

   left_constraint.orientation_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

   left_constraint.orientation_path_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

   left_constraint.preferred_orientation = target_pose.pose.orientation

   right_constraint = moveit_commander.Constraints()

   right_constraint.orientation_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

   right_constraint.orientation_path_mask = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

   right_constraint.preferred_orientation = target_pose.pose.orientation

   # 根据约束求解路径规划问题

   left_goal = left_arm.set_joint_value_target(left_constraint)

   right_goal = right_arm.set_joint_value_target(right_constraint)

   left_arm.set_max_velocity_scaling_factor(1.5)

   right_arm.set_max_velocity_scaling_factor(1.5)

   left_arm.set_start_state_to_current_state()

   right_arm.set_start_state_to_current_state()

   left_group = left_arm.go(wait=True)

   right_group = right_arm.go(wait=True)

   # 打印结果

   print("Left arm joint values: " + str(left_group.get_current_joint_values()))

   print("Right arm joint values: " + str(right_group.get_current_joint_values()))

   # 确保所有线程都已关闭

   moveit_commander.roscpp_shutdown()

   moveit_commander.os._exit(0)

if __name__ == '__main__':

   main()

```

这个脚本首先导入了所需的库，然后初始化了节点和MoveIt指挥官。接下来，它创建了两个MoveGroupCommander对象，分别用于控制ABB YuMi双臂机器人的左右臂。然后，它将双臂机器人添加到规划场景中，并设置了目标姿态和约束。最后，它使用这些约束来求解路径规划问题，并打印出最终的关节值。