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所在平台: Udemy |
课程主页: https://www.udemy.com/course/complete-guide-to-using-ros-with-moveit/
课程评论：没有评论
课程名称：完整指南：为MoveIt制作硬件接口 课程概述：本课程针对拥有一定ROS经验的学生，旨在使用ROS控制机器人手臂。课程详细讲解了如何从头开始使用MoveIt来控制真实的机器人手臂，是创建硬件接口的最全面的课程，能够使真实机器人与MoveIt无缝协作。课程伊始，我介绍了MoveIt Setup Assistant的基础知识，这是一个简单的向导应用程序，用于将您实际机器人的物理特征描述给MoveIt软件。接着，我采用模板化的方法构建自定义的硬件接口，该接口基于ROS Control。此硬件接口提供了ROS与真实机器人之间的直接链接，利用ROS Control的能力将MoveIt路径规划转化为实时的关节指令。课程使用的是工业Aubo机器人，该机器人直接与Arduino类型的微控制器相连。由于采用了Arduino接口，课程的内容适用于任何可以通过一系列关节指令进行控制的机器人，无论是工业机器人还是DIY机器人。我创建本课程的原因是，在使用MoveIt与实际机器人配合时，发现几乎没有完整的文档指导整个流程，因此本课程旨在填补这一空缺。
This course is designed for students with some ROS experience and who are wanting to use ROS to control a robotic arm. This course teaches how to actually use MoveIt - from start to finish- with a real robot arm. This is the most comprehensive course on creating a hardware interface to enable real robots to work seamlessly with MoveIt. I begin with the basics of the MoveIt Setup Assistant, which is a simple wizard application for describing the physical characteristics of your actual robot to the MoveIt software. I then use a templated approach to creating a custom hardware interface built with ROS Control. This hardware interface provides the direct link between ROS and the real robot by leveraging ROS Control's ability to transform MoveIt path planning into real-time joint commands.This course has been developed using a industrial Aubo robot which is directly interfaced to and Arduino type microcontroller. Because of the Arduino interface, this course is directly applicable to any robot - wether it is industrial or DIY - that can be controlled using a series joint commands.I have created this course because when I was working through the process of using MoveIt with an actual robot, I was surprised that there is almost no documentation that walks you through the entire process. This course is my attempt to fill this need.
