3. Random movement

This lesson takes MoveIT simulation as an example. If you need to set up the real machine and simulation to be synchronized, please see the lesson [02, MoveIt Precautions and Controlling the Real Machine]. ! ! ! be safe! ! !

The effect demonstration is a virtual machine and other main control running conditions (related to the main control performance, depending on the actual situation).

3.1. Start

#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to ROS/07, Docker tutorial
~/run_docker.sh

Start MoveIT

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roslaunch arm_moveit_demo x3plus_moveit_demo.launch sim:=true

<PI5 needs to open another terminal to enter the same docker container

Start random motion node (choose one of two)

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rosrun arm_moveit_demo 01_random_move.py # python
rosrun arm_moveit_demo 01_random_move # C++

The renderings are as follows

The source code implementation effect is the same as the MoveIT interface [MotionPlanning--->Planning--->Goal State (random)].

3.2, python source code

Import header file

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import rospy
from time import sleep
from moveit_commander.move_group import MoveGroupCommander

Initialize nodes and create planning group instances

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#Initialize node
     rospy.init_node("yahboomcar_random_move")
     # Initialize the robot arm planning group
     yahboomcar = MoveGroupCommander("arm_group")

Set planning parameters

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# When motion planning fails, re-planning is allowed
     yahboomcar.allow_replanning(True)
     # Set planning time
     yahboomcar.set_planning_time(5)
     # Number of attempts to plan
     yahboomcar.set_num_planning_attempts(10)
     #Set the allowed target position error
     yahboomcar.set_goal_position_tolerance(0.01)
     #Set the allowed target attitude error
     yahboomcar.set_goal_orientation_tolerance(0.01)
     # Set the allowable target error
     yahboomcar.set_goal_tolerance(0.01)
     # Set maximum speed
     yahboomcar.set_max_velocity_scaling_factor(1.0)
     # Set maximum acceleration
     yahboomcar.set_max_acceleration_scaling_factor(1.0)

Set random target points in a loop

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while not rospy.is_shutdown():
         #Set random target point
         yahboomcar.set_random_target()
         # Start exercising
         yahboomcar.go()
         sleep(0.5)

3.3, C++ source code

Import header file

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#include <iostream>
#include "ros/ros.h"
#include <moveit/move_group_interface/move_group_interface.h>

Create nodes and planning groups

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ros::init(argc, argv, "yahboomcar_random_move_cpp");
     ros::NodeHandle n;
ros::AsyncSpinner spinner(1);
spinner.start();
     moveit::planning_interface::MoveGroupInterface yahboomcar("arm_group");

Set planning parameters and initial position

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     //Set the maximum speed
     yahboomcar.setMaxVelocityScalingFactor(1.0);
     //Set the maximum acceleration
     yahboomcar.setMaxAccelerationScalingFactor(1.0);
     //Set target point
     yahboomcar.setNamedTarget("down");
     //Start moving
     yahboomcar.move();
     sleep(0.1);

Set random target points in a loop

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     while (!ros::isShuttingDown()){
     //Set random target point
     yahboomcar.setRandomTarget();
     yahboomcar.move();
     sleep(0.5);
     }

3.4, Node graph

Take C++ node as an example