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机械臂的控制

1 滑块控制

打开一个ROS2环境终端，然后运行命令：

Control of the robotic arm

1 Slider control

Open a ROS2 environment terminal and run the command:

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ros2 launch mercury_b1 slider_control.launch.py

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它将打开 rviz 和一个滑块组件，你将看到如下画面：

It will open rviz and a slider component, and you will see something like this:

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<<<<<<< HEAD 接着你可以通过拖动滑块来控制 rviz2 中的模型移动。真实的 Mercury B1 将跟着一起运动。

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rviz2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ROS2环境终端，然后运行命令：

You can then control model movement in rviz2 by dragging the slider. A real Mercury B1 will move along.

Please note: Since the robot arm will move to the current position of the model when the command is entered, please make sure that the model in rviz2 does not have mold penetration before you use the command.

Do not quickly drag the slider after connecting the robotic arm to prevent damage to the robotic arm.

2 Model following

In addition to the above controls, we can also make the model follow the movement of the real robotic arm. Open a ROS2 environment terminal and run the command:

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ros2 launch mercury_b1 mercury_follow.launch.py

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它将打开 rviz 展示模型跟随效果。

It will open rviz to display the model following effect.

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