大家好，我不是这个角色的专业人士！我正在尝试为办公室创建一个 UI 来控制机器人。在这个 UI 中，我们有一个 rviz 机器人，我在 UI 中加载了这个机器人，如下所示：
我的问题是如何创建滑块来控制像 rviz 这样的机器人关节？
我的 rviz 文件是：
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.7425600290298462
Tree Height: 80
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link10:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link101:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link11:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link111:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link12:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link121:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link9:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link91:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link10:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link101:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link11:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link111:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link12:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link121:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link9:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link91:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 11.042991638183594
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.06479708105325699
Target Frame: base_link
Yaw: 5.189948558807373
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 713
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000026ffc0200000007fb000000100044006900730070006c006100790073000000003d000000e1000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067000000003d0000026f0000018800ffffff0000050e0000029600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1294
X: 72
Y: 27
以及我使用 Robot 运行 rviz 窗口的启动文件：
<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find robot620b_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Set execution mode for fake execution controllers -->
<arg name="execution_type" default="interpolate" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find robot620b_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="execution_type" value="$(arg execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find robot620b_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(find robot620b_moveit_config)/launch/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find robot620b_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>
像这样摇动类似机器人的引擎是我的工作吗？你知道 GitHub 上的项目或示例吗？
我必须使用 moveit 来解决这个问题？我认为不是，因为 moveit 与服务一起工作，这对用户来说太慢了！当我尝试使用 moveit时，我从这个链接获得了帮助
但是移动它是如此缓慢！moveit 适用于按钮而不适用于滑块 我需要使用滑块来控制关节机器人！