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机械臂的控制
1 滑块控制
打开一个ROS1环境终端，然后运行命令：
Control of the robotic arm
1 Slider Control
Open a ROS1 environment terminal and run the command:
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roslaunch mercury_b1 slider_control.launch
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它将打开 rviz 和一个滑块组件，你将看到如下画面：
rviz and a slider component will be opened, and you will see the following interface:
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接着你可以通过拖动滑块来控制 rviz 中的模型移动。如果你想让真实的 Mercury B1 跟着一起运动，需要再打开一个ROS1环境终端，然后运行命令：
Then you can control the model in rviz to make it move by dragging the slider. If you want the real mycobot to move with the model, you need to open another ROS1 environment terminal:
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rosrun mercury_b1 slider_control.py
<<<<<<< HEAD 请注意：由于在命令输入的同时机械臂会移动到模型目前的位置，在您使用命令之前请确保rviz中的模型没有出现穿模现象 不要在连接机械臂后做出快速拖动滑块的行为，防止机械臂损坏
2 模型跟随
除了上面的控制，我们也可以让模型跟随真实的机械臂运动。打开一个ROS1环境终端，然后运行命令：
Note: Since the robot arm will move to the current position of the model when the command is input, make sure that the model in rviz does not appear to be worn out before you use the command.
Do not drag the slider quickly after connecting the robot arm to prevent damage to the robot arm.
2 Model Following
In addition to the above controls, we can also let the model move by following the real robot arm. Open a ROS1 environment terminal:
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rosrun mercury_b1 follow_display.py
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然后打开另一个ROS1环境终端，然后运行命令：
Then open another ROS1 environment terminal and run the command:
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roslaunch mercury_b1 mercury_follow.launch
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它将打开 rviz 展示模型跟随效果。
It will open rviz to show the model following effect.
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3 Moveit使用
mercury_b1 现已集成了 MoveIt 部分。
打开一个ROS1环境终端，然后运行命令：
5 Moveit use
mercury_b1 has integrated the MoveIt section.
Open a ROS1 environment terminal and run the command:
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roslaunch mercury_b1_moveit mercury_b1.launch
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如果需要让真实的机械臂同步执行计划，需要再打开一个ROS1环境终端，然后运行命令：
If you need to have the real robot arm execute the plan synchronously, you need to open another ROS1 environment terminal and run the command:
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rosrun mercury_b1_moveit sync_plan.py
<<<<<<< HEAD Moveit 的控制组有三个，运行效果如下：
1.左臂控制组： 通过拖动轨迹球来规划左臂的运动方向，再执行规划。
Moveit has three control groups, and the operating results are as follows:
1. Left arm control group: Plan the movement direction of the left arm by dragging the trackball, and then execute the plan.
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2.右臂控制组： 通过拖动轨迹球来规划右臂的运动方向，再执行规划。
2. Right arm control group: Plan the movement direction of the right arm by dragging the trackball, and then execute the plan.
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3.腰部控制组： 可以通过设置目标姿态，再执行规划。
3. Waist control group: You can set the target posture and then execute the planning.
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