环境搭建

安装ROS环境

mycobot_ros安装

执行下面命令安装 ultraArm P1 ROS 代码：

$ cd ~/catkin_ws/src
$ git clone -b ultraarm-P1 https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ sudo echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

机械臂的控制

注意：pymycobot 驱动库的版本必须大于4.0.5

使用前准备

在使用案例功能之前，请先确认以下硬件和环境准备齐全：

硬件设备
- ultraArm P1 机械臂
- 电源适配器
- USB Type-C串口线
软件与环境
- PC虚拟机 ubuntu 20.04系统
- 已安装 Python 3.6 及以上版本
- 已安装 pymycobot 库（通过 pip install pymycobot 终端命令安装）
- 确保 ultraArm P1 已正确接通电源、串口线，并且虚拟机系统能检测到串口号。
- 验证：验证机械臂串口是否存在，终端输入：
```
ls /dev/tty*
```
  如果输出的串口信息有 /dev/ttyACM* 或者 /dev/ttyUSB*，表示串口已被检测到。
- 串口权限：如果串口存在，需要赋予可执行权限:
```
sudo chmod 777 /dev/ttyUSB*
# 或者
sudo chmod 777 /dev/ttyACM*
```

1 滑块控制

打开命令行并运行：

roslaunch ultraarm_p1 slider_control.launch

打开 rviz 和一个滑块组件，您将看到如下界面：

然后你就可以在 rviz 中 控制模型，通过拖动滑块使其移动。如果想让真实的机械臂随着模型移动，则需要打开另一个命令行并运行：

# 默认串口名为"/dev/ttyUSB0"，波特率为1000000.
rosrun ultraarm_p1 slider_control.py _port:=/dev/ttyUSB0 _baud:=1000000

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

除了上述控制外，我们还可以让模型跟随真实的机械臂移动。

打开命令行，启动ros节点：

roscore

然后打开新的命令行并运行：

# 默认串口名为"/dev/ttyUSB0"，波特率为1000000.
rosrun ultraarm_p1 follow_display.py _port:=/dev/ttyUSB0 _baud:=1000000

运行成功后，需要按住机器末端LED按钮才能拖拽关节移动，终端输出信息如下

[INFO] [1782124921.575586]: Please press the LED button at the end of the machine to drag the joint.
请按下机器末端LED按钮进行关节拖拽运动

[INFO] [1782124921.583662]: Publishing ...

最后打开另一个命令行并运行：

roslaunch ultraarm_p1 follow_display.launch

它将 打开 rviz，显示模型跟随效果。此时拖动真实机械臂关节，仿真模型将会跟随真实机械臂运动。

3 GUI 控制

在前述内容的基础上，本软件包还提供了一个简单的图形用户界面（GUI）控制界面。连接到 ultraArm。

打开命令行：

# 默认串口名为"/dev/ttyUSB0"，波特率为1000000.
roslaunch ultraarm_p1 simple_gui.launch port:=/dev/ttyUSB0 baud:=1000000

运行成功后，终端信息输出如下：

SUMMARY
========

PARAMETERS
 * /mycobot_services/baud: 1000000
 * /mycobot_services/port: /dev/ttyUSB0
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    mycobot_services (ultraarm_communication/mycobot_services.py)
    real_listener (ultraarm_p1/listen_real.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    simple_gui (ultraarm_p1/simple_gui.py)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [128931]
process[rviz-2]: started with pid [128932]
process[mycobot_services-3]: started with pid [128933]
process[real_listener-4]: started with pid [128939]
process[simple_gui-5]: started with pid [128941]
Current pymycobot library version: 4.0.6b1+p1
pymycobot library version meets the requirements!
[INFO] [1764746055.634703]: Starting ultraArm service node...
[INFO] [1764746055.638701]: /dev/ttyUSB0,1000000

ultraArm P1 Status
--------------------------------
Joint Limit:
    joint 1: -165 ~ +165
    joint 2: -18 ~ +85
    joint 3: +89 ~ +200
    joint 4: -179 ~ +179

[INFO] [1764746057.175403]: Services are ready

然后在GUI界面输入相关角度和坐标信息，点击对应按钮，即可实现真实机器与仿真模型的同步运动

4 键盘控制

在 ultraarm_p1 软件包中添加了键盘控制功能，并在 rviz 中执行实时同步。该功能依赖于 pythonApi，因此请务必与真正的机械臂连接。

打开命令行并运行：

# 默认串口名为"/dev/ttyUSB0"，波特率为1000000.
roslaunch ultraarm_p1 teleop_keyboard.launch port:=/dev/ttyUSB0 baud:=1000000

运行效果如下

ultraArm 的信息将在命令行中输出如下：

SUMMARY
========

PARAMETERS
 * /mycobot_topics/baud: 1000000
 * /mycobot_topics/port: /dev/ttyUSB0
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    mycobot_topics (ultraarm_communication/mycobot_topics.py)
    real_listener_topic (ultraarm_p1/listen_real_of_topic.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [135652]
process[rviz-2]: started with pid [135653]
process[mycobot_topics-3]: started with pid [135654]
process[real_listener_topic-4]: started with pid [135657]
Current pymycobot library version: 4.0.6b1+p1
pymycobot library version meets the requirements!
[INFO] [1764747322.418629]: /dev/ttyUSB1,1000000

UltraArm P1 Status
--------------------------------
Joint Limit:
    joint 1: -165 ~ +165
    joint 2: -18 ~ +85
    joint 3: +89 ~ +200
    joint 4: -179 ~ +179

然后打开另一个命令行运行:

rosrun ultraarm_p1 teleop_keyboard.py

你将看到命令行输出如下:

ultraArm P1 Teleop Keyboard Controller (ROS1 - Topic Version)
---------------------------------------------------------
Movement (Cartesian):
              w (x+)
    a (y+)    s (x-)    d (y-)
              z (z-)    x (z+)

Rotation (Euler angles):
    u (rx+) 
    j (rx-) 

Movement Step:
    + : Increase movement step size
    - : Decrease movement step size

Other:
    1 - Go to init pose
    2 - Go to home pose
    3 - Save current pose as home
    q - Quit

currently:    speed: 50    change percent: 5
[INFO] [1764747657.221866]: Current moving step: position 12.5 mm, angle attitude 9.0°

在该终端中，您可以控制机械臂的状态，并使用命令行中的按键移动机械臂。

注意：先输入2机械臂回到起始点之后，再进行其他坐标控制操作，终端会有如下提示：

[WARN] [1758001794.385321]: Coordinate control disabled. Please press '2' first.
[INFO] [1758001804.552778]: Home pose reached. Coordinate control enabled.
[INFO] [1758001817.069637]: Home pose reached. Coordinate control enabled.
[WARN] [1758001836.301070]: Returned to zero. Press '2' to enable coordinate control.
[WARN] [1758001848.830702]: Coordinate control disabled. Please press '2' first.
[INFO] [1758001863.383565]: Home pose reached. Coordinate control enabled.
[WARN] [1758001933.596504]: Returned to zero. Press '2' to enable coordinate control.
[WARN] [1758001942.051899]: Coordinate control disabled. Please press '2' first.

5 moveit 使用

mycobot_ros 整合了 MoveIt 部分。

打开命令行并运行：

roslaunch ultraarm_p1_moveit demo.launch

运行效果如下：

终端将输出如下信息，代表成功启动moveit：

[ INFO] [1764748767.950062231]: Using planning interface 'Pilz Industrial Motion Planner'
[ INFO] [1764748767.979214606]: Loading robot model 'firefighter'...
[ INFO] [1764748768.672492877]: Set joints of group 'arm_group' to pose 'init_pose'.
[ INFO] [1764748768.674325697]: Fake controller 'fake_arm_group_controller' with joints [ J1 J2 J3 J4 ]
[ INFO] [1764748768.676474671]: Returned 1 controllers in list
[ INFO] [1764748768.709682299]: Trajectory execution is managing controllers
[ INFO] [1764748768.709847401]: MoveGroup debug mode is ON
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1764748768.849945586]: initialize move group sequence action
[ INFO] [1764748768.871537834]: Reading limits from namespace /robot_description_planning
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1764748768.903345564]: Reading limits from namespace /robot_description_planning
[ INFO] [1764748768.933101019]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - SequenceAction
*     - SequenceService
********************************************************

[ INFO] [1764748768.934931311]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1764748768.935042611]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1764748772.433527325]: Starting planning scene monitor
[ INFO] [1764748772.438227267]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1764748773.125892638]: Group 'arm_group' has a mimic joint. Will not initialize dynamics solver
[ INFO] [1764748773.138298263]: Constructing new MoveGroup connection for group 'arm_group' in namespace ''
[ INFO] [1764748774.394846420]: Ready to take commands for planning group arm_group.

基本路径规划操作如下：

如果想让真正的机械臂同步执行计划，则需要打开另一个命令行并运行：

# 默认串口名为"/dev/ttyUSB0"，波特率为1000000.
rosrun ultraarm_p1_moveit sync_plan.py _port:=/dev/ttyUSB0 _baud:=1000000

修改运动速度

为了防止关节在实际机械臂运动过程中晃动，需要降低关节的运动速度。

在sync_plan.py文件中，修改机械臂 Python API 的速度参数，此处改为 25。

  ...

def callback(data: JointState):
    """Callback function for ROS JointState subscription.

    This function converts incoming joint positions (radians) to angles
    in degrees and sends them to the P1 robotic arm.

    Args:
        data (JointState): Joint state message containing joint positions.
    """
    data_list = []
    for _, value in enumerate(msg.position):
        radians_to_angles = round(math.degrees(value), 2)
        data_list.append(radians_to_angles)
    joint1 = data_list[0]
    joint2 = data_list[1]
    joint3 = data_list[5] + 90
    joint4 = data_list[-1]
    angles_list = [joint1, joint2, joint3, joint4]
    self.ua.set_angles(angles_list, 25, _async=False)

  ...

在 Moveit RViz 界面中，修改速度和加速度的缩放比例。在这里，将其改为 0.1，然后保存当前配置。

6.2.4 基本功能案例

环境搭建

安装ROS环境

mycobot_ros安装

机械臂的控制

使用前准备

1 滑块控制

2 模型跟随

3 GUI 控制

4 键盘控制

5 moveit 使用

修改运动速度

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