当我已经开启了moveit功能包中的demo.launch,并且想要用Python控制机械臂的运行,

$ rosrun probot_c800_demo moveit_ik_demo.py

出现如下警告:[ INFO] [1594446454.067423383]: Loading robot model ‘husky_robot_gazebo’…
[ INFO] [1594446454.068303985]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1594446454.442572665]: Kinematics solver doesn’t support #attempts anymore, but only a timeout.
Please remove the parameter ‘/robot_description_kinematics/manipulator/kinematics_solver_attempts’ from your configuration.
[ WARN] [1594446454.453115151]: IK plugin for group ‘manipulator’ relies on deprecated API. Please implement initialize(RobotModel, …).
[ INFO] [1594446454.461020974]: IK Using joint link_1 -3 3
[ INFO] [1594446454.461336811]: IK Using joint link_2 -3 3
[ INFO] [1594446454.461498805]: IK Using joint link_3 -3 3
[ INFO] [1594446454.461604581]: IK Using joint link_4 -3 3
[ INFO] [1594446454.461694170]: IK Using joint link_5 -3 3
[ INFO] [1594446454.461799287]: IK Using joint link_6 -3 3
[ INFO] [1594446454.461913617]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1594446454.465505896]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1594446454.469496909]: Using solve type Speed
[ INFO] [1594446455.525168264]: Ready to take commands for planning group manipulator.
[ INFO] [1594446455.525337480]: Replanning: yes
[ WARN] [1594446469.704312045]: Fail: ABORTED: No motion plan found. No execution attempted.

提示路径规划不出来。

解决方案:

1.确保输入的笛卡尔坐标系的点是机械臂可以到达的,否则,会无法规划出路径。

2.更换运动学插件,TRACK_IK或者ikfast,具体可以参考网上教程,主要是修改kinematic.yaml中的内容

3.更换运动规划算法,建议RRTconnect,也是在moveit功能包下的配置文件中修改。

4.sudo apt-get update

sudo apt-get upgrade

我就是走到步骤4才解决这个问题