Franka Emika Panda机械臂规划路径时，rviz中手爪显示碰撞

【Franka Emika Panda连接真实机械臂（二）】
本文是对上文的一些补充。
前文中的franka_ros功能包和panda_moveit_config功能包是分别在不同的工作空间编译的，所以在控制真实机械臂的过程中，不得不按照【Franka Emika Panda连接真实机械臂（二）】中所描述的那样，先后启动不同的控制节点。运行

roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=172.16.0.2 load_gripper:=true

按照常理来说，应该可以直接控制机械臂，但是现实情况是报错，现实找不到franka_control的包。后来通过查阅官方文档，发现franka_ros功能包和panda_moveit_config功能包本来是在一起的，后来panda_moveit_config功能包被单独拿出来放在了ros_planning路径下。
所以赶紧把franka_ros功能包和panda_moveit_config功能包放在一个工作空间里编译，没有问题，运行panda_control_moveit_rviz.launch也出现了rviz,但是却显示手爪和末端碰撞。
仔细阅读了urdf文件，
franka_ros/franka_description/robots/下的hand.urdf.xacro、panda_arm.urdf.xacro melodic版本都有改动。
在这里插入图片描述这里显示碰撞的原因就是多了这句safety_distance=“0.03”。但是这句现在又不能去掉。
解决办法：

cd ~/catkin_franka/src/panda_moveit_config/config
gedit panda_arm.xacro

文档后面多加了两句。disable_collisions是设置不检测这两个关节之间的碰撞。

 <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Default" />
    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
    <disable_collisions link1="panda_link4" link2="panda_link8" reason="Never" />
    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
    <disable_collisions link1="panda_link6" link2="panda_link8" reason="Default" />
    <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />

这样就大功告成了，可以直接运行一个launch文件控制panda机械臂了。

Franka Emika Panda机械臂规划路径时，rviz中手爪显示碰撞

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