# tran_ros_vision **Repository Path**: three-stinks/tran_ros_vision ## Basic Information - **Project Name**: tran_ros_vision - **Description**: tran_ros_vision,tran_ros_vision - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2025-06-19 - **Last Updated**: 2025-10-23 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # 机械臂绑扎机器人技术手册 ## 快速部署 1. 安装ROS_Noetic ```sh wget http://fishros.com/install -O fishros && . fishros ``` 2. 部署Scepter视觉功能包（GUI与ROS_SDK） * Scepter快速连接与GUI测试：https://wiki.vzense.com/#/zh-cn/Quickstart/Quickstart?id=_1-%e8%ae%be%e5%a4%87%e8%bf%9e%e6%8e%a5 * 确保GUI可识别到相机后ScepterROS_SDK部署：https://wiki.vzense.com/#/zh-cn/ScepterSDK/3rd-Party-Plugin/ROS?id=_411-%e7%8e%af%e5%a2%83%e8%a6%81%e6%b1%82 3. 部署rm_robot机械臂功能包ROS_SDK * https://develop.realman-robotics.com/robot/ros/getStarted/，其中**功能包下载地址换为**https://gitee.com/xyy1997/rm_robot.git，记得安装moveit 4. 部署自定义中转包 * https://gitee.com/TerryHank/tran_ros_vision * 记得source devel/setup.bash ## 组网教程 * 进入https://easytier.cn/guide/download.html下载相对应版本 * Ubuntu机器人端简单启动（x自己安排ip，作为**机器人域网ip**） ```sh sudo 下载文件夹/easytier-core -i 10.0.0.x --network-name Robot -p tcp://125.88.205.58:11010 ``` 如要开机自启组网服务参考教程https://easytier.cn/guide/network/install-as-a-systemd-service.html * Windows索驱平板客户端下载GUI版本，按照以下图设置，*自己安排ip作为**索驱平板ip** ![image-20250617175242104](233333.png) * 双端组网软件下载完成后将代码中索驱连接ip固定 * 路径为~/lashingrobots/src/chassis_ctrl/src/test.cpp中,约**299行**，改为**索驱平板ip** ```c++ server_addr.sin_addr.s_addr = inet_addr("10.0.0.*"); #改为索驱平板ip ``` * 任何一台电脑或手机下载easytier加入组网网络名称为Robot，并且组网ip为125.88.205.58的域即可访问**机器人域网ip**，**前提是保证机器人连入互联网** ## 快速启动 1. ```sh roslaunch a_common_msgs readyaml.launch ``` ## 项目结构 #### 相机底层驱动（Sceptertof_roscpp.cfg与 scepter_manager.cpp为主要修改文件） ```sh ~/ScepterSDK/3rd-PartyPlugin/ROS/src/ScepterROS/ │ CMakeLists.txt │ install.py │ package.xml │ README.md │ setup.py │ ├─cfg │ Sceptertof_roscpp.cfg #相机底层参数配置文件 │ ├─include │ scepter_manager.hpp #引用 │ ├─launch │ scepter_camera.launch #底层节点启动launch，直接用 │ scepter_pointCloudxyz.launch #不用管 │ scepter_pointCloudxyzcolor.launch #不用管 │ └─src scepter_driver.cpp #相机节点管理 scepter_manager.cpp #相机图层读取，节点发布，算法 ``` #### 视觉和机械臂中转驱动 ```sh ├── README.md ├── requirements.txt ├── src │ ├── a_arms │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── README.md │ │ └── src │ │ ├── a_arm.cpp │ │ ├── a_move.cpp │ │ ├── a_shot.cpp │ │ ├── a_test2.cpp │ │ └── a_test.cpp │ ├── a_common_msgs │ │ ├── action │ │ │ └── MovePoint.action │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── config.yaml │ │ ├── launch │ │ │ └── readyaml.launch │ │ ├── msg │ │ │ ├── Extrinsics.msg │ │ │ ├── IMUInfo.msg │ │ │ ├── Metadata.msg │ │ │ ├── move_point.msg │ │ │ ├── PointCoords.msg │ │ │ └── PointsArray.msg │ │ ├── package.xml │ │ ├── README.md │ │ └── srv │ │ ├── detect_points.srv │ │ ├── PlaneDetection.srv │ │ └── ProcessImage.srv │ ├── a_control │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── README.md │ │ └── src │ │ └── a_control.cpp │ ├── CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake │ └── vision │ ├── CMakeLists.txt │ ├── include │ │ └── vision │ ├── package.xml │ ├── scripts │ │ └── vision_node.py │ └── src │ └── client_xyz.cpp ├── test.py └── z_model └── best.pt ``` #### 机械臂底层驱动 ```sh ├─rm_bringup │ │ CMakeLists.txt │ │ package.xml │ │ │ └─launch │ rm_63_6f_robot.launch │ rm_63_robot.launch │ rm_65_6f_robot.launch │ rm_65_robot.launch │ rm_75_6f_robot.launch │ rm_75_robot.launch │ rm_eco65_6f_robot.launch │ rm_eco65_robot.launch │ ├─rm_control │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─launch │ │ rm_63_control.launch │ │ rm_65_control.launch │ │ rm_75_control.launch │ │ rm_eco65_control.launch │ │ │ └─src │ cubicSpline.h │ rm_control.cpp │ ├─rm_demo │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─launch │ │ planning_scene_ros_api_demo.launch │ │ │ ├─scripts │ │ getHSV.py │ │ moveit_obstacles_demo.py │ │ moveit_plan_and_stop.py │ │ rm_63_moveit_obstacles_demo.py │ │ rm_65_moveit_obstacles_demo.py │ │ rm_75_moveit_obstacles_demo.py │ │ rm_eco65_moveit_obstacles_demo.py │ │ test_rgb.py │ │ │ └─src │ api_ChangeToolName_demo.cpp │ api_ChangeWorkFrame_demo.cpp │ api_eco65_pick_place_demo.cpp │ api_getArmCurrentState.cpp │ api_Get_Arm_State_demo.cpp │ api_moveJ_demo.cpp │ api_moveJ_P_demo.cpp │ api_moveL_demo.cpp │ api_rm65_pick_place_demo.cpp │ api_rm75_pick_place_demo.cpp │ api_rml63_pick_place_demo.cpp │ api_teach_demo.cpp │ arm_63_planning_scene_ros_api_demo.cpp │ arm_65_planning_scene_ros_api_demo.cpp │ arm_75_planning_scene_ros_api_demo.cpp │ arm_eco65_planning_scene_ros_api_demo.cpp │ planning_scene_ros_api_demo.cpp │ test_api_movel.cpp │ ├─rm_description │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─config │ │ ECO65.rviz │ │ joint_names_rm_65_description.yaml │ │ RM65.rviz │ │ RM75.rviz │ │ RML63.rviz │ │ │ ├─launch │ │ ├─ECO65 │ │ │ rm_eco65_6f_display.launch │ │ │ rm_eco65_display.launch │ │ │ rm_eco65_display_xacro.launch │ │ │ rm_eco65_gazebo.launch │ │ │ │ │ ├─RM65 │ │ │ rm_65_6f_display.launch │ │ │ rm_65_display.launch │ │ │ rm_65_display_y_90.launch │ │ │ rm_65_gazebo.launch │ │ │ │ │ ├─RM75 │ │ │ rm_75_6f_display.launch │ │ │ rm_75_display.launch │ │ │ rm_75_display_urdf.launch │ │ │ │ │ └─RML63 │ │ display_rml63_bottom.launch │ │ rm_63_6f_display.launch │ │ rm_63_display.launch │ │ rm_63_gazebo.launch │ │ │ ├─meshes │ │ ├─ECO65 │ │ │ baselink.STL │ │ │ Link1.STL │ │ │ Link2.STL │ │ │ Link3.STL │ │ │ Link4.STL │ │ │ Link5.STL │ │ │ Link6.STL │ │ │ │ │ ├─ECO65_6F │ │ │ base_link.STL │ │ │ Link1.STL │ │ │ Link2.STL │ │ │ Link3.STL │ │ │ Link4.STL │ │ │ Link5.STL │ │ │ Link6.STL │ │ │ │ │ ├─RM65 │ │ │ base_link.STL │ │ │ link1.STL │ │ │ link2.STL │ │ │ link3.STL │ │ │ link4.STL │ │ │ link5.STL │ │ │ link6.STL │ │ │ │ │ ├─RM65_6F │ │ │ base_link.STL │ │ │ Link1.STL │ │ │ Link2.STL │ │ │ Link3.STL │ │ │ Link4.STL │ │ │ Link5.STL │ │ │ Link6.STL │ │ │ │ │ ├─RM75 │ │ │ base_link.STL │ │ │ link1.STL │ │ │ link2.STL │ │ │ link3.STL │ │ │ link4.STL │ │ │ link5.STL │ │ │ link6.STL │ │ │ link7.STL │ │ │ │ │ ├─RM75_6F │ │ │ base_link.STL │ │ │ Link1.STL │ │ │ Link2.STL │ │ │ Link3.STL │ │ │ Link4.STL │ │ │ Link5.STL │ │ │ Link6.STL │ │ │ Link7.STL │ │ │ │ │ ├─RML63 │ │ │ base_link.STL │ │ │ link1.STL │ │ │ link2.STL │ │ │ link3.STL │ │ │ link4.STL │ │ │ link5.STL │ │ │ link6.STL │ │ │ │ │ └─RML63_6F │ │ base_link.STL │ │ Link1.STL │ │ Link2.STL │ │ Link3.STL │ │ Link4.STL │ │ Link5.STL │ │ Link6.STL │ │ │ └─urdf │ ├─ECO65 │ │ eco65.csv │ │ eco65.urdf │ │ rm_eco65.gazebo.xacro │ │ rm_eco65.transmission.xacro │ │ rm_eco65.urdf.xacro │ │ │ ├─ECO65_6F │ │ eco65.csv │ │ eco65.urdf │ │ rm_eco65_6f_description.urdf │ │ rm_eco65_6f_description.urdf.xacro │ │ │ ├─RM65 │ │ rm_65.gazebo.xacro │ │ rm_65.transmission.xacro │ │ rm_65.urdf │ │ rm_65.urdf.xacro │ │ rm_65.urdf（复件）.xacro │ │ rm_65_description.csv │ │ rm_65_y_90.urdf.xacro │ │ │ ├─RM65_6F │ │ rm_65_6f_description.csv │ │ rm_65_6f_description.urdf │ │ rm_65_6f_description.urdf.xacro │ │ │ ├─RM75 │ │ rm_75.gazebo.xacro │ │ rm_75.transmission.xacro │ │ rm_75.urdf │ │ rm_75_bottom.urdf.xacro │ │ rm_75_description.csv │ │ │ ├─RM75_6F │ │ rm_75_6f_description.csv │ │ rm_75_6f_description.urdf │ │ rm_75_6f_description.urdf.xacro │ │ │ ├─RML63 │ │ rml_63.gazebo.xacro │ │ rml_63.transmission.xacro │ │ rml_63_bottom.urdf.xacro │ │ rml_63_description.csv │ │ rml_63_description.urdf │ │ │ └─RML63_6F │ rm_63_6f_descriptio.urdf.xacro │ rm_63_6f_description.csv │ rm_63_6f_description.urdf │ ├─rm_doc │ │ CMakeLists.txt │ │ package.xml │ │ │ └─doc │ 1. 睿尔曼 l ROS1机械臂rm_driver功能包详解V1.0.0.pdf │ 2. 睿尔曼 l ROS1机械臂rm_msg功能包详解V1.0.0 .pdf │ 3. 睿尔曼 l ROS1机械臂rm_description功能包详解V1.0.0.pdf │ 4. 睿尔曼 l ROS1机械臂rm_control功能包详解V1.0.0.pdf │ 5. 睿尔曼 l ROS1机械臂rm_moveit_config详解V1.0.0.pdf │ 6. 睿尔曼 l ROS1机械臂rm_bringup功能包详解V1.0.0.pdf │ 7. 睿尔曼 l ROS1机械臂rm_gazebo功能包详解V1.0.0.pdf │ 8. 睿尔曼 l ROS1机械臂rm_example功能包详解V1.0.0.pdf │ 睿尔曼机械臂ROS1rm_driver话题详细说明V1.0.0.pdf │ 睿尔曼机械臂ROS使用说明书_V1.7.pdf │ ├─rm_driver │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─launch │ │ rm_63_driver.launch │ │ rm_65_driver.launch │ │ rm_75_driver.launch │ │ rm_eco65_driver.launch │ │ │ └─src │ cJSON.c │ cJSON.h │ rm_driver.cpp │ rm_robot.h │ ├─rm_gazebo │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─config │ │ ├─ECO65 │ │ │ arm_gazebo_control.yaml │ │ │ arm_gazebo_joint_states.yaml │ │ │ rm_eco65_trajectory_control.yaml │ │ │ trajectory_control.yaml │ │ │ │ │ ├─RM65 │ │ │ arm_gazebo_control.yaml │ │ │ arm_gazebo_joint_states.yaml │ │ │ rm_65_trajectory_control.yaml │ │ │ rviz_gazebo.rviz │ │ │ trajectory_control.yaml │ │ │ │ │ ├─RM75 │ │ │ arm_gazebo_control.yaml │ │ │ arm_gazebo_joint_states.yaml │ │ │ rm_75_trajectory_control.yaml │ │ │ rviz_gazebo.rviz │ │ │ rviz_gazebo_bak.rviz │ │ │ trajectory_control.yaml │ │ │ │ │ └─RML63 │ │ arm_gazebo_control.yaml │ │ arm_gazebo_joint_states.yaml │ │ rml_63_trajectory_control.yaml │ │ rviz_gazebo.rviz │ │ trajectory_control.yaml │ │ │ └─launch │ │ arm_63_bringup_moveit.launch │ │ arm_65_bringup_moveit.launch │ │ arm_75_bringup_moveit.launch │ │ arm_eco65_bringup_moveit.launch │ │ │ ├─ECO65 │ │ arm_eco65_trajectory_controller.launch │ │ rm_eco65_arm_gazebo_states.launch │ │ rm_eco65_arm_trajectory_controller.launch │ │ rm_eco65_arm_world.launch │ │ │ ├─RM65 │ │ arm_65_trajectory_controller.launch │ │ rm_65_arm_gazebo_states.launch │ │ rm_65_arm_trajectory_controller.launch │ │ rm_65_arm_world.launch │ │ │ ├─RM75 │ │ arm_75_trajectory_controller.launch │ │ arm_gazebo_states.launch │ │ arm_trajectory_controller.launch │ │ arm_world.launch │ │ │ └─RML63 │ arm_gazebo_states.launch │ arm_trajectory_controller.launch │ arm_world.launch │ rml_63_trajectory_controller.launch │ ├─rm_moveit_config │ ├─rml_63_6f_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_63_6f_description.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_63_6f_description_moveit_controller_manager.launch copy.xml │ │ rm_63_6f_description_moveit_controller_manager.launch.xml │ │ rm_63_6f_description_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rml_63_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rml_63_description.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch(复件).xml │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rml_63_description_moveit_controller_manager.launch.xml │ │ rml_63_description_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rm_65_6f_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_65_6f_description.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo copy.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_65_6f_description_moveit_controller_manager.launch copy.xml │ │ rm_65_6f_description_moveit_controller_manager.launch.xml │ │ rm_65_6f_description_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rm_65_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_65.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_65_moveit_controller_manager.launch(复件).xml │ │ rm_65_moveit_controller_manager.launch.xml │ │ rm_65_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch(复件).xml │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rm_75_6f_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits copy.yaml │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_75.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_75_moveit_controller_manager.launch copy.xml │ │ rm_75_moveit_controller_manager.launch.xml │ │ rm_75_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rm_75_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_75.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_75_moveit_controller_manager.launch(复件).xml │ │ rm_75_moveit_controller_manager.launch.xml │ │ rm_75_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ ├─rm_eco65_6f_moveit_config │ │ │ .setup_assistant │ │ │ CMakeLists.txt │ │ │ package.xml │ │ │ │ │ ├─config │ │ │ cartesian_limits.yaml │ │ │ chomp_planning.yaml │ │ │ controllers.yaml │ │ │ controllers_gazebo.yaml │ │ │ fake_controllers.yaml │ │ │ joint_limits.yaml │ │ │ kinematics.yaml │ │ │ ompl_planning.yaml │ │ │ rm_eco65.srdf │ │ │ ros_controllers.yaml │ │ │ sensors_3d.yaml │ │ │ │ │ └─launch │ │ chomp_planning_pipeline.launch.xml │ │ default_warehouse_db.launch │ │ demo.launch │ │ demo_gazebo.launch │ │ demo_realrobot.launch │ │ fake_moveit_controller_manager.launch.xml │ │ gazebo.launch │ │ joystick_control.launch │ │ moveit.rviz │ │ moveit_planning_execution.launch │ │ moveit_rviz.launch │ │ move_group.launch │ │ ompl_planning_pipeline.launch.xml │ │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ │ planning_context.launch │ │ planning_pipeline.launch.xml │ │ rm_eco65_moveit_controller_manager.launch copy.xml │ │ rm_eco65_moveit_controller_manager.launch.xml │ │ rm_eco65_moveit_sensor_manager.launch.xml │ │ ros_controllers.launch │ │ run_benchmark_ompl.launch │ │ sensor_manager.launch.xml │ │ setup_assistant.launch │ │ trajectory_execution.launch.xml │ │ warehouse.launch │ │ warehouse_settings.launch.xml │ │ │ └─rm_eco65_moveit_config │ │ .setup_assistant │ │ CMakeLists.txt │ │ package.xml │ │ │ ├─config │ │ cartesian_limits.yaml │ │ chomp_planning.yaml │ │ controllers.yaml │ │ controllers_gazebo.yaml │ │ fake_controllers.yaml │ │ gazebo_controllers.yaml │ │ gazebo_rm_eco65.urdf │ │ joint_limits.yaml │ │ kinematics.yaml │ │ ompl_planning.yaml │ │ rm_eco65.srdf │ │ ros_controllers.yaml │ │ sensors_3d.yaml │ │ simple_moveit_controllers.yaml │ │ stomp_planning.yaml │ │ │ └─launch │ chomp_planning_pipeline.launch.xml │ default_warehouse_db.launch │ demo.launch │ demo_gazebo.launch │ demo_realrobot.launch │ fake_moveit_controller_manager.launch.xml │ gazebo.launch │ joystick_control.launch │ moveit.rviz │ moveit_planning_execution.launch │ moveit_rviz.launch │ move_group.launch │ ompl-chomp_planning_pipeline.launch.xml │ ompl_planning_pipeline.launch.xml │ pilz_industrial_motion_planner_planning_pipeline.launch.xml │ planning_context.launch │ planning_pipeline.launch.xml │ rm_eco65_moveit_controller_manager.launch copy.xml │ rm_eco65_moveit_controller_manager.launch.xml │ rm_eco65_moveit_sensor_manager.launch.xml │ ros_controllers.launch │ ros_control_moveit_controller_manager.launch.xml │ run_benchmark_ompl.launch │ sensor_manager.launch.xml │ setup_assistant.launch │ simple_moveit_controller_manager.launch.xml │ stomp_planning_pipeline.launch.xml │ trajectory_execution.launch.xml │ warehouse.launch │ warehouse_settings.launch.xml │ └─rm_msgs │ CMakeLists.txt │ package.xml │ ├─include │ Arm_Analog_Output.h │ Arm_Digital_Output.h │ Arm_IO_State.h │ Gripper.h │ JointPos.h │ MoveC.h │ MoveJ.h │ MoveL.h │ Plan_State.h │ Stop.h │ Tool_Analog_Output.h │ Tool_Digital_Output.h │ Tool_IO_State.h │ └─msg ArmState.msg Arm_Analog_Output.msg Arm_Current_State.msg Arm_Digital_Output.msg Arm_IO_State.msg Arm_Joint_Speed_Max.msg Cabinet.msg CartePos.msg ChangeTool_Name.msg ChangeTool_State.msg ChangeWorkFrame_Name.msg ChangeWorkFrame_State.msg Force_Position_Move_Joint.msg Force_Position_Move_Pose.msg Force_Position_State.msg GetArmState_Command.msg Gripper_Pick.msg Gripper_Set.msg Hand_Angle.msg Hand_Force.msg Hand_Posture.msg Hand_Seq.msg Hand_Speed.msg IO_Update.msg JointPos.msg Joint_Current.msg Joint_Enable.msg Joint_Error_Code.msg Joint_Max_Speed.msg Joint_Step.msg Joint_Teach.msg LiftState.msg Lift_Height.msg Lift_Speed.msg Manual_Set_Force_Pose.msg MoveC.msg MoveJ.msg MoveJ_P.msg MoveL.msg Ort_Teach.msg Plan_State.msg Pos_Teach.msg Servo_GetAngle.msg Servo_Move.msg Set_Force_Position.msg Set_Realtime_Push.msg Six_Force.msg Socket_Command.msg Start_Multi_Drag_Teach.msg Stop.msg Stop_Teach.msg Tool_Analog_Output.msg Tool_Digital_Output.msg Tool_IO_State.msg Turtle_Driver.msg ```