gazebo仿真环境中添加robotiq 2f 140的gripper_controller控制器

gazebo仿真环境中添加robotiq 2f 140的gripper_controller控制器

搭建环境：

ubuntu: 20.04
ros: Nonetic
sensor: robotiq_ft300
gripper: robotiq_2f_140_gripper
UR: UR3
reasense： D435i

通过下面几篇博客配置好了ur3、力传感器、robotiq夹爪、realsense的rviz和gazebo仿真环境

ubuntu20.04配置UR机械臂的仿真环境
ur3+robotiq ft sensor+robotiq 2f 140配置rviz仿真环境
ur3+robotiq ft sensor+robotiq 2f 140配置gazebo仿真环境
ur3+robotiq ft sensor+robotiq 2f 140+realsense d435i配置rviz，gazebo仿真环境

通过上一篇博客在仿真环境配置好realsense后，打开发布的话题发现并没有夹爪的话题

经过robotiq/robotiq_2f_140_gripper_gazebo/launch/robotiq_2f_140_bringup.launch与universal_robot/ur_gazebo/launch/ur3_bringup.launch文件比对，发现ur3_bringup.launch只有机械臂的控制器（如下图），没有加上夹爪的控制器

找到robotiq_2f_140_bringup.launch中夹爪控制器（如下图）

然后将其加入到ur3_bringup.launch文件中（注意仿照这两个文件控制器的加载方式来加入，而不是单纯复制框中的代码）

我在ur3_bringup.launch加入的代码如下

<!-- Load Gripper controller settings -->
<rosparam file="$(find robotiq_2f_140_gripper_gazebo)/config/robotiq_2f_140_gripper_controllers.yaml" command="load"/>
<!-- Load and start the gripper controllers listed in the 'controllers' arg. -->
<node name="gripper_controller_spawner" pkg="controller_manager" type="spawner"
args="gripper_controller" output="screen" respawn="false" />

ur3_bringup.launch完整代码如下

<?xml version="1.0"?>
<launch>
  <!--Robot description and related parameter files -->
  <arg name="robot_description_file" default="$(dirname)/inc/load_ur3.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
  <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
  <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
  <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>

  <!-- Controller configuration -->
  <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
  <arg name="controllers" default="joint_state_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
  <arg name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>

  <!-- robot_state_publisher configuration -->
  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
  <arg name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>

  <!-- Gazebo parameters -->
  <arg name="paused" default="false" doc="Starts Gazebo in paused mode" />
  <arg name="gui" default="true" doc="Starts Gazebo gui" />

  <!-- Load urdf on the parameter server -->
  <include file="$(arg robot_description_file)">
    <arg name="joint_limit_params" value="$(arg joint_limit_params)"/>
    <arg name="kinematics_params" value="$(arg kinematics_params)"/>
    <arg name="physical_params" value="$(arg physical_params)"/>
    <arg name="visual_params" value="$(arg visual_params)"/>
  </include>

  <!-- Robot state publisher -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
    <param name="tf_prefix" value="$(arg tf_prefix)" />
  </node>

  <!-- Start the 'driver' (ie: Gazebo in this case) -->
  <include file="$(dirname)/inc/ur_control.launch.xml">
    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
    <arg name="controllers" value="$(arg controllers)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
  </include>

   <!-- Load Gripper controller settings -->
  <rosparam file="$(find robotiq_2f_140_gripper_gazebo)/config/robotiq_2f_140_gripper_controllers.yaml" command="load"/>
  <!-- Load and start the gripper controllers listed in the 'controllers' arg. -->
  <node name="gripper_controller_spawner" pkg="controller_manager" type="spawner"
    args="gripper_controller" output="screen" respawn="false" />
</launch>

查看效果

运行命令

cd ~/catkin_ws
source devel/setup.bash
roslaunch ur_gazebo ur3_bringup.launch

现在多出来gripper夹爪控制器的话题

遇到的bug

在弄完上面的直接运行会发现命令行中有一个报错

主要原因是universal_robot/ur_gazebo/urdf/ur_macro.xacro文件和robotiq/robotiq_2f_140_gripper_gazebo/urdf/robotiq_arg2f_140_macro.xacro都有声明ros_control如下图

只要注释掉其中一个ros_control就可以了，这里我注释了robotiq_arg2f_140_macro.xacro中的，问题解决，没有再报错