12.8. MoveIt! 套件

• 要啟動 MoveIt!，請開新的 terminal 視窗然後輸入以下指令。

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch open_manipulator_with_tb3_tools manipulation.launch use_platform:=true

• 以下是 rqt 插件顯示控制 OpenManipulator 範例

• 由 rosservice 訊息可得知機器人狀態

$ rosservice call /arm/moveit/get_joint_position "planning_group: 'arm'" 
joint_position: 
  joint_name: [joint1, joint2, joint3, joint4]
  position: [-0.003067961661145091, -0.42644667625427246, 1.3084856271743774, -0.8452234268188477]
  max_accelerations_scaling_factor: 0.0
  max_velocity_scaling_factor: 0.0

$ rosservice call /arm/moveit/get_kinematics_pose "planning_group: 'arm'
end_effector_name: ''" 
header: 
  seq: 0
  stamp: 
    secs: 1550714737
    nsecs: 317547871
  frame_id: "/base_footprint"
kinematics_pose: 
  pose: 
    position: 
      x: 0.0918695085861
      y: -0.000263644738325
      z: 0.218597669468
    orientation: 
      x: 1.82347658316e-05
      y: 0.023774433021
      z: -0.000766773548775
      w: 0.999717054001
  max_accelerations_scaling_factor: 0.0
  max_velocity_scaling_factor: 0.0
  tolerance: 0.0

• 為了控制 OpenMANIPULATOR 的爪夾（range 範圍可從 -0.01 ~ 0.01），下面的service 指令可能會有所幫助。

$ rosservice call /om_with_tb3/gripper "planning_group: ''
joint_position:
  joint_name:
  - ''
  position:
  - 0.15
  max_accelerations_scaling_factor: 0.0
  max_velocity_scaling_factor: 0.0
path_time: 0.0"