## 運動規劃 接口文件： gauss/gauss_python_api/src/gauss_python_api/gauss_api.py - 接口： gauss/commander/robot_action - ROS 接口類型： Action - 接口內容： RobotMoveAction move接口可以完成如下的規劃任務： ``` JOINTS = 1 POSE = 2 POSITION = 3 RPY = 4 SHIFT_POSE = 5 # TOOL = 6 # EXECUTE_TRAJ = 7 # POSE_QUAT = 8 # SAVED_POSITION =9 # SAVED_TRAJECTORY = 10 ``` 注意：Gauss機械臂提供了關節坐標系、直角坐標系的接口，暫未提供笛卡爾路徑規劃接口。 POSE、POSITION、RPY、SHIFT_POSE 等規劃依賴于規劃器和逆解器算法。如有發現規劃失敗，則需要考慮： 1. 是否超出了機械臂的可達范圍 2. 更換OMPL所使用的插件： 配置文件在 ompl_planning.yaml 3. 考慮是否需要更換moveit規劃器：https://moveit.ros.org/documentation/planners/ 4. 考慮是否需要更換逆解器：ikfast、trac_ik等 示例代碼參考`gauss/gauss_python_api/src/gauss_python_api/gauss_api.py`文件： ```python def move_pose(self, x, y, z, roll, pitch, yaw): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.POSE goal.cmd.position.x = x goal.cmd.position.y = y goal.cmd.position.z = z goal.cmd.rpy.roll = roll goal.cmd.rpy.pitch = pitch goal.cmd.rpy.yaw = yaw return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) def move_joints(self, joints): goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.JOINTS goal.cmd.joints = joints return self.execute_action('gauss/commander/robot_action', RobotMoveAction, goal) ``` 參考： 1、 https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/