Moveit

[tianrking]

sudo apt install ros-rolling-moveit*

ros2 launch moveit_setup_assistant setup_assistant.launch.py

[tianrking]

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <!-- 简单的模型用于演示 JointController -->
    <model name="joint_controller_demo">
      <pose>0 0 0 0 0 0</pose>
      
      <!-- 基础连接 -->
      <link name="base_link">
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <inertial>
          <mass>120.0</mass>
        </inertial>
        <visual name="base_visual">
          <geometry>
            <box>
              <size>0.5 0.5 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.8 0.2 1</ambient>
            <diffuse>0.8 0 0 1</diffuse>
          </material>
        </visual>
        <collision name="base_collision">
          <geometry>
            <box>
              <size>0.5 0.5 0.01</size>
            </box>
          </geometry>
        </collision>
      </link>

      <!-- 旋转的部分 -->
      <link name="rotor">
        <pose>0.0 0.0 0.1 0 0 0</pose>
        <inertial>
          <mass>0.6</mass>
        </inertial>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.25 0.1 0.05</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.8 0.2 1</ambient>
            <diffuse>0.8 0 0 1</diffuse>
          </material>
        </visual>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.25 0.1 0.05</size>
            </box>
          </geometry>
        </collision>
      </link>
 
      <!-- 固定关节 -->
      <joint name="world_fixed" type="fixed">
        <parent>world</parent>
        <child>base_link</child>
      </joint>
 
      <!-- 旋转关节 -->
      <joint name="j1" type="revolute">
        <pose>0 0 -0.5 0 0 0</pose>
        <parent>base_link</parent>
        <child>rotor</child>
        <axis>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>

      <!-- Joint Controller Plugin -->
      <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
        <joint_name>j1</joint_name>
        <initial_velocity>1.0</initial_velocity>
      </plugin>
    </model>
  </world>
</sdf>