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2026-01-06 18:19:31 +08:00
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.gitignore vendored Normal file
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build/**
install/**
log/**

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README.md
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sudo apt-get install ros-humble-realtime-tools
sudo apt-get install ros-humble-moveit
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

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src/hc_dual_arm_bringup/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.10)
project(hc_dual_arm_bringup)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# 依赖
find_package(ament_cmake REQUIRED)
# 安装启动文件和世界文件
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
ament_package()

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src/hc_dual_arm_bringup/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

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src/hc_dual_arm_bringup/launch/main.launch.py Normal file
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from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
def generate_launch_description():
dual_arm_moveit_config_pkg_share = FindPackageShare(package="hc_dual_arm_moveit_config")
dual_arm_moveit_config_pkg_launch_path = PathJoinSubstitution(
[dual_arm_moveit_config_pkg_share, "launch", "demo.launch.py"]
)
dual_arm_motion_share = FindPackageShare(package="hc_dual_arm_motion")
dual_arm_motion_launch_path = PathJoinSubstitution(
[dual_arm_motion_share, "launch", "hc_dual_arm_motion.launch.py"]
)
dual_arm_moveit_config = IncludeLaunchDescription(
PythonLaunchDescriptionSource(dual_arm_moveit_config_pkg_launch_path),
)
dual_arm_motion = IncludeLaunchDescription(
PythonLaunchDescriptionSource(dual_arm_motion_launch_path),
)
joy_node = Node(
package="joy", # 包名
executable="joy_node", # 可执行文件（joy包的核心节点）
name="joy_node", # 节点名（自定义）
output="screen", # 日志输出到终端
)
return LaunchDescription([
joy_node,
dual_arm_moveit_config, # 启动控制子launch
dual_arm_motion # 启动手柄控制子launch
])

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src/hc_dual_arm_bringup/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>hc_dual_arm_bringup</name>
<version>1.0.0</version>
<description>hc dual arm bringup package</description>
<maintainer email="Ray@email.com">Ray</maintainer>
<license>Apache-2.0</license>
<build_depend>ament_cmake</build_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/hc_dual_arm_interfaces/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.10)
if(POLICY CMP0148)
cmake_policy(SET CMP0148 OLD)
endif()
project(hc_dual_arm_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
set(action_files
action/HcDualArm.action
)
set(message_files
msg/ArmMotionParams.msg
)
rosidl_generate_interfaces(${PROJECT_NAME}
${action_files}
${message_files}
DEPENDENCIES
std_msgs
geometry_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(rosidl_default_runtime)
ament_package()

202
src/hc_dual_arm_interfaces/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

27
src/hc_dual_arm_interfaces/action/HcDualArm.action Normal file
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# HcDualArm.action
uint8 STATUS_PLANNING = 0 # 规划中
uint8 STATUS_EXECUTING = 1 # 执行中
uint8 STATUS_DONE = 2 # 完成
uint8 ARM_LEFT = 0 # 左臂
uint8 ARM_RIGHT = 1 # 右臂
uint8 ARM_DUAL = 2 # 双臂
uint8 arm_type # 运动臂类型 | ARM_LEFT/ARM_RIGHT/ARM_DUAL
ArmMotionParams[] arm_motion_params # 机械臂运动参数
float64 velocity_scaling # 速度缩放因子 [0,1]
float64 acceleration_scaling # 加速度缩放因子 [0,1]
float64 cartesian_step # MOVEL步长 m [0,0.5]
---
bool success # 执行是否成功
string message # 结果描述
float64 final_progress # 最终进度 [0,1]
---
float64 progress # 实时进度 [0,1]
uint8 status # 实时状态 STATUS_PLANNING/STATUS_EXECUTING/STATUS_DONE
float64[] joints_left # 左臂当前关节角（弧度）
float64[] joints_right # 右臂当前关节角（弧度）

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src/hc_dual_arm_interfaces/msg/ArmMotionParams.msg Normal file
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# ArmMotionParams.msg - 单臂运动参数
uint8 MOVEJ = 0
uint8 MOVEL = 1
uint8 ARM_LEFT = 0
uint8 ARM_RIGHT = 1
uint8 arm_id # 机械臂ID | 0/1
uint8 motion_type # 运动模式 | MOVEJ/MOVEL
geometry_msgs/Pose target_pose # 笛卡尔目标位姿 | 仅MOVEL生效
float64[] target_joints # 目标关节角（弧度） | 仅MOVEJ生效

23
src/hc_dual_arm_interfaces/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>hc_dual_arm_interfaces</name>
<version>0.0.0</version>
<description>hivecore dual arm related internal interfaces</description>
<maintainer email="ray@hivecore.cn">ray</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

56
src/hc_dual_arm_motion/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.10)
cmake_policy(SET CMP0167 NEW)
add_compile_options(-Wall -Wextra -Wpedantic -Wno-dev)
project(hc_dual_arm_motion)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# 依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(hc_dual_arm_interfaces REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
# 包含头文件
include_directories(include)
# 编译节点
add_executable(hc_dual_arm_motion_server
src/main.cpp
src/hc_dual_arm_motion_server.cpp
)
ament_target_dependencies(hc_dual_arm_motion_server
rclcpp
rclcpp_action
sensor_msgs
moveit_ros_planning_interface
geometry_msgs
hc_dual_arm_interfaces
)
# 安装可执行文件
install(TARGETS
hc_dual_arm_motion_server
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY config/
DESTINATION share/${PROJECT_NAME}/config)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

202
src/hc_dual_arm_motion/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
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src/hc_dual_arm_motion/config/hc_dual_arm_motion_config.yaml Normal file
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# 注意：根节点名必须和Launch中Node的name参数完全一致（hc_dual_arm_motion）
hc_dual_arm_motion_server:
ros__parameters:
dual_arm_move_group: "dual_arm"
right_arm_move_group: "arm_right"
left_arm_move_group: "arm_left"
action_name: "hc_dual_arm"
joy_topic: "joy"
preset_movej_joints: [0.0, -0.785398, 0.0, -1.570796, 0.0, 0.785398]
velocity_scaling: 0.3
cartesian_step: 0.01
max_velocity_scaling: 1.0
max_acceleration_scaling: 1.0
planning_time: 3.0
num_planning_attempts: 5

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#ifndef MOTION_ACTION_SERVER_HPP_
#define MOTION_ACTION_SERVER_HPP_
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include "hc_dual_arm_interfaces/action/hc_dual_arm.hpp"
#include "hc_dual_arm_interfaces/msg/arm_motion_params.hpp"
using namespace rclcpp_action;
using namespace rclcpp;
using namespace std;
using namespace moveit_msgs::msg;
using namespace hc_dual_arm_interfaces::action;
using namespace hc_dual_arm_interfaces::msg;
using HcDualArmAction = hc_dual_arm_interfaces::action::HcDualArm;
using GoalHandleRobotMotion = ServerGoalHandle<HcDualArmAction>;
using HcDualArmGoal = HcDualArmAction::Goal;
using HcDualArmResult = HcDualArmAction::Result;
using HcDualArmFeedback = HcDualArmAction::Feedback;
using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface;
using PlanningSceneInterface = moveit::planning_interface::PlanningSceneInterface;
// 封装Action常量
enum class ArmType : uint8_t {
LEFT = HcDualArmAction::Goal::ARM_LEFT,
RIGHT = HcDualArmAction::Goal::ARM_RIGHT,
DUAL = HcDualArmAction::Goal::ARM_DUAL
};
enum class MotionStatus : uint8_t{
PLANNING = HcDualArmAction::Goal::STATUS_PLANNING,
EXECUTING = HcDualArmAction::Goal::STATUS_EXECUTING,
DONE = HcDualArmAction::Goal::STATUS_DONE
};
// 封装Msg常量
enum class MotionType : uint8_t {
MOVEJ = ArmMotionParams::MOVEJ,
MOVEL = ArmMotionParams::MOVEL
};
class HcDualArmMotionServer : public rclcpp::Node
{
public:
explicit HcDualArmMotionServer(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
~HcDualArmMotionServer() = default;
private:
// 预设参数
string dual_arm_planning_group_;
string left_arm_planning_group_;
string right_arm_planning_group_;
string action_name_;
string joy_topic_;
vector<double> preset_movej_joints_;
float velocity_scaling_;
float cartesian_step_;
float max_velocity_scaling_;
float max_acceleration_scaling_;
float planning_time_;
int num_planning_attempts_;
// 暂存变量
vector<string> end_effector_links_;
string base_link_;
vector<string> left_arm_joint_names_;
vector<string> right_arm_joint_names_;
// 状态变量
bool is_moving;
// moveit move group 指针
shared_ptr<MoveGroupInterface> dual_arm_move_group_ptr_;
shared_ptr<MoveGroupInterface> left_arm_move_group_ptr_;
shared_ptr<MoveGroupInterface> right_arm_move_group_ptr_;
shared_ptr<MoveGroupInterface> current_move_group_ptr_;
// moveit planning scene 指针
shared_ptr<PlanningSceneInterface> planning_scene_interface_ptr_;
// dual arm action server and client.
rclcpp_action::Server<HcDualArmAction>::SharedPtr action_server_ptr_;
rclcpp_action::Client<HcDualArmAction>::SharedPtr action_client_ptr_;
// jog subscription 指针
Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_ptr_;
// 加载参数
void load_parameters();
// 初始化函数
void initPlanningGroups();
void initSingleMoveGroup( shared_ptr<moveit::planning_interface::MoveGroupInterface>& move_group_ptr_, const string& planning_group);
// 显示函数
void show_pose(const shared_ptr<moveit::planning_interface::MoveGroupInterface>& move_group, const string& end_effector_link);
// Action回调
GoalResponse handle_goal(const GoalUUID& uuid, shared_ptr<const HcDualArmAction::Goal> goal);
CancelResponse handle_cancel(const shared_ptr<GoalHandleRobotMotion> goal_handle);
void handle_accepted(const shared_ptr<GoalHandleRobotMotion> goal_handle);
void execute(const shared_ptr<GoalHandleRobotMotion> goal_handle);
bool execute_arm_motion(const std::shared_ptr<const HcDualArmAction::Goal> goal, std::shared_ptr<HcDualArmAction::Feedback> feedback, std::shared_ptr<HcDualArmAction::Result> result);
MoveGroupInterface::Plan single_arm_plan(MoveGroupInterface& move_group, ArmMotionParams motion_Params, double step_value);
RobotTrajectory mergeTrajectories(const moveit_msgs::msg::RobotTrajectory& left_traj,const moveit_msgs::msg::RobotTrajectory& right_traj);
RobotTrajectory scaleTrajectoryTime(const moveit_msgs::msg::RobotTrajectory& traj, double target_duration);
// 运动执行函数
bool execute_single_arm_motion(const shared_ptr<const HcDualArmAction::Goal> goal, shared_ptr<HcDualArmAction::Feedback> feedback, shared_ptr<HcDualArmAction::Result> result, ArmType arm_type);
bool execute_dual_arm_motion(const shared_ptr<const HcDualArmAction::Goal> goal, shared_ptr<HcDualArmAction::Feedback> feedback, shared_ptr<HcDualArmAction::Result> result);
// 遥控器回调
void joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
};
#endif // MOTION_ACTION_SERVER_HPP_

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src/hc_dual_arm_motion/launch/hc_dual_arm_motion.launch.py Normal file
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import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import TimerAction
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
config_path = os.path.join(
get_package_share_directory("hc_dual_arm_motion"), # 替换为你的功能包名
"config",
"hc_dual_arm_motion_config.yaml"
)
# 创建节点启动描述
hc_dual_arm_motion_node = Node(
package='hc_dual_arm_motion',
executable='hc_dual_arm_motion_server',
name='hc_dual_arm_motion_server',
output='screen',
parameters=[config_path , {"use_sim_time": True}]
)
start_hc_dual_arm_motion_node = TimerAction(
period=1.0,
actions=[hc_dual_arm_motion_node],
)
# 组装launch描述
return LaunchDescription([
start_hc_dual_arm_motion_node
])

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src/hc_dual_arm_motion/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>hc_dual_arm_motion</name>
<version>1.0.0</version>
<description>hivecore dual arm motion control package</description>
<maintainer email="ray@hivecore.cn">ray</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>rclcpp</depend>
<depend>hc_dual_arm_interfaces</depend>
<depend>sensor_msgs</depend>
<depend>moveit_ros_planning_interface</depend>
<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<depend>moveit_core</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

808
src/hc_dual_arm_motion/src/hc_dual_arm_motion_server.cpp Normal file
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#include "hc_dual_arm_motion_server.hpp"
#include <thread>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_msgs/msg/joint_constraint.hpp>
#include <moveit_msgs/msg/position_constraint.hpp>
#include <moveit_msgs/msg/orientation_constraint.hpp>
#include <shape_msgs/msg/solid_primitive.hpp>
#include <tf2_ros/transform_listener.h>
using namespace std::chrono_literals;
HcDualArmMotionServer::HcDualArmMotionServer(const rclcpp::NodeOptions& options)
: Node("hc_dual_arm_motion_server", options)
{
// 1. 加载配置参数
load_parameters();
// 2. 初始化MoveGroupInterface（MoveIt2需要多线程执行器，提前初始化）
initPlanningGroups();
// 3. 初始化Action服务端
action_server_ptr_ = rclcpp_action::create_server<HcDualArmAction>(
this,
action_name_,
std::bind(&HcDualArmMotionServer::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&HcDualArmMotionServer::handle_cancel, this, std::placeholders::_1),
std::bind(&HcDualArmMotionServer::handle_accepted, this, std::placeholders::_1));
RCLCPP_INFO(this->get_logger(), "Action server started: %s", action_name_.c_str());
// 4. 初始化Action客户端（关键：用于Joy回调发送Goal）
action_client_ptr_ = rclcpp_action::create_client<HcDualArmAction>(this, action_name_);
while (!action_client_ptr_->wait_for_action_server(5s) && rclcpp::ok())
{
RCLCPP_INFO(this->get_logger(), "Waiting for action server %s...", action_name_.c_str());
}
RCLCPP_INFO(this->get_logger(), "Action client connected to %s", action_name_.c_str());
// 5. 订阅遥控器Joy话题
joy_sub_ptr_ = this->create_subscription<sensor_msgs::msg::Joy>(joy_topic_,10,std::bind(&HcDualArmMotionServer::joy_callback, this, std::placeholders::_1));
RCLCPP_INFO(this->get_logger(), "Subscribed to joy topic: %s", joy_topic_.c_str());
RCLCPP_INFO(this->get_logger(), "Joy mapping: A(btn0)=MoveJ, B(btn1)=MoveL, X(btn2)=Cancel");
// 6. 初始化状态标志位
is_moving = false; // 初始状态为静止
}
void HcDualArmMotionServer::load_parameters()
{
// 字符串参数定义及初始化
this->declare_parameter<std::string>("dual_arm_planning_group", "dual_arm");
this->declare_parameter<std::string>("right_arm_planning_group", "arm_right");
this->declare_parameter<std::string>("left_arm_planning_group", "arm_left");
this->declare_parameter<std::string>("action_name", "hc_dual_arm");
this->declare_parameter<std::string>("joy_topic", "joy");
std::vector<double> default_joints = {0.0, -M_PI/4, 0.0, -M_PI/2, 0.0, M_PI/4};
this->declare_parameter<std::vector<double>>("preset_movej_joints", default_joints);
this->declare_parameter<float>("velocity_scaling", 0.3f);
this->declare_parameter<float>("cartesian_step", 0.01f);
this->declare_parameter<float>("max_velocity_scaling", 1.0f);
this->declare_parameter<float>("max_acceleration_scaling", 1.0f);
this->declare_parameter<float>("planning_time", 3.0f);
this->declare_parameter<int>("num_planning_attempts", 5);
// 字符串参数获取与赋值
this->get_parameter("dual_arm_planning_group", dual_arm_planning_group_);
this->get_parameter("right_arm_planning_group", right_arm_planning_group_);
this->get_parameter("left_arm_planning_group", left_arm_planning_group_);
this->get_parameter("action_name", action_name_);
this->get_parameter("joy_topic", joy_topic_);
this->get_parameter("preset_movej_joints", preset_movej_joints_);
this->get_parameter("velocity_scaling", velocity_scaling_);
this->get_parameter("cartesian_step", cartesian_step_);
this->get_parameter("max_velocity_scaling", max_velocity_scaling_);
this->get_parameter("max_acceleration_scaling", max_acceleration_scaling_);
this->get_parameter("planning_time", planning_time_);
this->get_parameter("num_planning_attempts", num_planning_attempts_);
}
void HcDualArmMotionServer::initPlanningGroups()
{
initSingleMoveGroup(dual_arm_move_group_ptr_, dual_arm_planning_group_);
initSingleMoveGroup(right_arm_move_group_ptr_, right_arm_planning_group_);
initSingleMoveGroup(left_arm_move_group_ptr_, left_arm_planning_group_);
end_effector_links_.push_back(left_arm_move_group_ptr_->getEndEffectorLink());
end_effector_links_.push_back(right_arm_move_group_ptr_->getEndEffectorLink());
show_pose(left_arm_move_group_ptr_, end_effector_links_[0]);
show_pose(right_arm_move_group_ptr_, end_effector_links_[1]);
left_arm_joint_names_ = left_arm_move_group_ptr_->getJointNames();
right_arm_joint_names_ = right_arm_move_group_ptr_->getJointNames();
// 设置当前MoveGroup 为双臂MoveGroup
current_move_group_ptr_ = dual_arm_move_group_ptr_;
base_link_ = current_move_group_ptr_->getPlanningFrame();
}
void HcDualArmMotionServer::initSingleMoveGroup( std::shared_ptr<moveit::planning_interface::MoveGroupInterface>& move_group_ptr_,const std::string& planning_group)
{
move_group_ptr_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(this, [](auto*) {}), planning_group);
move_group_ptr_->setMaxVelocityScalingFactor(max_velocity_scaling_);
move_group_ptr_->setMaxAccelerationScalingFactor(max_acceleration_scaling_);
move_group_ptr_->setPlanningTime(planning_time_);
move_group_ptr_->setNumPlanningAttempts(num_planning_attempts_);
}
void HcDualArmMotionServer::show_pose(const std::shared_ptr<moveit::planning_interface::MoveGroupInterface>& move_group,
const std::string& end_effector_link)
{
// 获取指定末端连杆的当前位姿
geometry_msgs::msg::Pose current_pose = move_group->getCurrentPose(end_effector_link).pose;
RCLCPP_INFO(this->get_logger(), "位姿信息：");
RCLCPP_INFO(this->get_logger(), "位置(x=%.3f, y=%.3f, z=%.3f)",current_pose.position.x, current_pose.position.y, current_pose.position.z);
RCLCPP_INFO(this->get_logger(), "姿态(x=%.3f, y=%.3f, z=%.3f, w=%.3f)",
current_pose.orientation.x, current_pose.orientation.y,
current_pose.orientation.z, current_pose.orientation.w);
}
// Action Goal校验
rclcpp_action::GoalResponse HcDualArmMotionServer::handle_goal(
const rclcpp_action::GoalUUID& uuid,
std::shared_ptr<const HcDualArmAction::Goal> goal)
{
(void)uuid;
(void)goal;
if (is_moving)
{
RCLCPP_WARN(this->get_logger(), "Robot is already moving");
return rclcpp_action::GoalResponse::REJECT;
}
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
// Action Cancel处理
rclcpp_action::CancelResponse HcDualArmMotionServer::handle_cancel(
const std::shared_ptr<GoalHandleRobotMotion> goal_handle)
{
RCLCPP_WARN(this->get_logger(), "Received cancel request");
current_move_group_ptr_->stop();
(void)goal_handle;
return rclcpp_action::CancelResponse::ACCEPT;
}
// Action Goal接受后执行
void HcDualArmMotionServer::handle_accepted(const std::shared_ptr<GoalHandleRobotMotion> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "handle_accepted");
// 异步执行，避免阻塞回调线程
std::thread{std::bind(&HcDualArmMotionServer::execute, this, std::placeholders::_1), goal_handle}.detach();
}
// Action核心执行逻辑
void HcDualArmMotionServer::execute(const std::shared_ptr<GoalHandleRobotMotion> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Starting motion execution");
const auto goal = goal_handle->get_goal();
auto feedback = std::make_shared<HcDualArmAction::Feedback>();
auto result = std::make_shared<HcDualArmAction::Result>();
bool success = execute_arm_motion(goal, feedback, result);
// 设置Action结果
if (rclcpp::ok())
{
if (success)
{
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Motion executed successfully");
}
else
{
goal_handle->abort(result);
RCLCPP_ERROR(this->get_logger(), "Motion execution failed: %s", result->message.c_str());
}
}
}
bool HcDualArmMotionServer::execute_arm_motion(
const std::shared_ptr<const HcDualArmAction::Goal> goal,
std::shared_ptr<HcDualArmAction::Feedback> feedback,
std::shared_ptr<HcDualArmAction::Result> result)
{
bool success = false;
const auto arm_type = static_cast<ArmType>(goal->arm_type);
switch (arm_type)
{
case ArmType::LEFT:
success = execute_single_arm_motion(goal, feedback, result, arm_type);
break;
case ArmType::RIGHT:
current_move_group_ptr_ = right_arm_move_group_ptr_;
success = execute_single_arm_motion(goal, feedback, result, arm_type);
break;
case ArmType::DUAL:
current_move_group_ptr_ = dual_arm_move_group_ptr_;
success = execute_dual_arm_motion(goal, feedback, result);
break;
default:
break;
}
return success;
}
// 执行MoveL
bool HcDualArmMotionServer::execute_single_arm_motion(
const std::shared_ptr<const HcDualArmAction::Goal> goal,
std::shared_ptr<HcDualArmAction::Feedback> feedback,
std::shared_ptr<HcDualArmAction::Result> result,
ArmType arm_type)
{
if (goal -> arm_motion_params.size() != 1)
{
RCLCPP_ERROR(this->get_logger(), "invalid arm_motion_params size");
return false;
}
if (arm_type == ArmType::LEFT)
{
current_move_group_ptr_ = left_arm_move_group_ptr_;
}
else if (arm_type == ArmType::RIGHT)
{
current_move_group_ptr_ = right_arm_move_group_ptr_;
}
current_move_group_ptr_->setMaxVelocityScalingFactor(goal->velocity_scaling);
current_move_group_ptr_->setMaxAccelerationScalingFactor(goal->velocity_scaling);
auto temp_motion_param = goal->arm_motion_params[0];
auto motion_type = static_cast<MotionType>(temp_motion_param.motion_type);
if (motion_type == MotionType::MOVEJ)
{
feedback->progress = 0.0;
feedback->status = static_cast<uint8_t>(MotionStatus::PLANNING);
if (current_move_group_ptr_->getActiveJoints().size() != temp_motion_param.target_joints.size())
{
RCLCPP_ERROR(this->get_logger(), "invalid target_joints size compared with active joints size");
return false;
}
current_move_group_ptr_->setJointValueTarget(temp_motion_param.target_joints);
// TODO: 保留根据笛卡尔空间点进行规划的功能
//current_move_group_ptr_->setPoseTarget(goal->target_poses[0]);
// 3. 规划运动
MoveGroupInterface::Plan plan;
bool plan_success = (current_move_group_ptr_->plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
if (!plan_success) {
result->success = false;
result->message = "MoveJ planning failed";
result->final_progress = 0.0;
return false;
}
// 4. 执行运动
feedback->progress = 0.5;
feedback->status = static_cast<uint8_t>(MotionStatus::EXECUTING);
current_move_group_ptr_->execute(plan);
// 5. 设置结果
feedback->progress = 1.0;
feedback->status = static_cast<uint8_t>(MotionStatus::DONE);
result->success = true;
result->message = "MoveJ executed successfully";
result->final_progress = 1.0;
return true;
}
else if (motion_type == MotionType::MOVEL)
{
feedback->progress = 0.0;
feedback->status = static_cast<uint8_t>(MotionStatus::PLANNING);
// 1. 设置目标位姿
geometry_msgs::msg::Pose start_pose = current_move_group_ptr_->getCurrentPose().pose;
geometry_msgs::msg::Pose end_pose = temp_motion_param.target_pose;
std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(start_pose);
waypoints.push_back(end_pose);
// 3. 生成笛卡尔路径
moveit_msgs::msg::RobotTrajectory trajectory;
const double jump_threshold = 0.0;
double fraction = current_move_group_ptr_->computeCartesianPath(
waypoints, goal->cartesian_step, jump_threshold, trajectory);
if (fraction < 0.9) {
result->success = false;
result->message = "MoveL path failed (fraction=" + std::to_string(fraction) + ")";
result->final_progress = fraction;
return false;
}
// 4. 执行运动
feedback->progress = 0.5;
feedback->status = static_cast<uint8_t>(MotionStatus::EXECUTING);
MoveGroupInterface::Plan plan;
plan.trajectory_ = trajectory;
current_move_group_ptr_->execute(plan);
// 5. 设置结果
feedback->progress = 1.0;
feedback->status = static_cast<uint8_t>(MotionStatus::DONE);
result->success = true;
result->message = "MoveL executed successfully (fraction=" + std::to_string(fraction) + ")";
result->final_progress = 1.0;
return true;
}
return false;
}
bool HcDualArmMotionServer::execute_dual_arm_motion(const shared_ptr<const HcDualArmAction::Goal> goal, shared_ptr<HcDualArmAction::Feedback> feedback, shared_ptr<HcDualArmAction::Result> result)
{
current_move_group_ptr_ = dual_arm_move_group_ptr_;
current_move_group_ptr_->setMaxVelocityScalingFactor(goal->velocity_scaling);
current_move_group_ptr_->setMaxAccelerationScalingFactor(goal->velocity_scaling);
if (goal->arm_motion_params.size() != 2)
{
RCLCPP_ERROR(this->get_logger(), "invalid arm_motion_params size");
return false;
}
if (goal->arm_motion_params[0].arm_id != 0 || goal->arm_motion_params[1].arm_id != 1)
{
RCLCPP_ERROR(this->get_logger(), "invalid arm_id");
return false;
}
if (goal->arm_motion_params[0].motion_type != goal->arm_motion_params[1].motion_type)
{
RCLCPP_ERROR(this->get_logger(), "invalid motion_type");
return false;
}
auto motion_type = static_cast<MotionType>(goal->arm_motion_params[0].motion_type);
if (motion_type == MotionType::MOVEJ)
{
RCLCPP_INFO(this->get_logger(), "---------------------- execute dual arm motion movej -------------------");
feedback->progress = 0.0;
feedback->status = static_cast<uint8_t>(MotionStatus::PLANNING);
auto total_target_joints = goal->arm_motion_params[0].target_joints;
total_target_joints.insert(total_target_joints.end(), goal->arm_motion_params[1].target_joints.begin(), goal->arm_motion_params[1].target_joints.end());
if (total_target_joints.size() != current_move_group_ptr_->getActiveJoints().size())
{
RCLCPP_ERROR(this->get_logger(), "invalid target_joints size compared with active joints size");
return false;
}
current_move_group_ptr_->setJointValueTarget(total_target_joints);
// 3. 规划运动
MoveGroupInterface::Plan plan;
bool plan_success = (current_move_group_ptr_->plan(plan) == moveit::core::MoveItErrorCode::SUCCESS);
if (!plan_success) {
result->success = false;
result->message = "MoveJ planning failed";
result->final_progress = 0.0;
return false;
}
// 4. 执行运动
feedback->progress = 0.5;
feedback->status = static_cast<uint8_t>(MotionStatus::EXECUTING);
current_move_group_ptr_->execute(plan);
feedback->progress = 1.0;
feedback->status = static_cast<uint8_t>(MotionStatus::DONE);
result->success = true;
result->message = "MoveJ executed successfully";
result->final_progress = 1.0;
return true;
}
if (motion_type == MotionType::MOVEL)
{
RCLCPP_INFO(this->get_logger(), "---------------------- execute dual arm motion moveL -------------------");
feedback->progress = 0.0;
feedback->status = static_cast<uint8_t>(MotionStatus::PLANNING);
// 左手臂规划组（需在SRDF中配置left_arm规划组）
left_arm_move_group_ptr_ -> setMaxVelocityScalingFactor(goal->velocity_scaling);
left_arm_move_group_ptr_ -> setMaxAccelerationScalingFactor(goal->acceleration_scaling);
left_arm_move_group_ptr_ -> setPlanningTime(10.0); // 增加规划时间
// 右手臂规划组（需在SRDF中配置right_arm规划组）
right_arm_move_group_ptr_ -> setMaxVelocityScalingFactor(goal->velocity_scaling);
right_arm_move_group_ptr_ -> setMaxAccelerationScalingFactor(goal->acceleration_scaling);
right_arm_move_group_ptr_ -> setPlanningTime(10.0); // 增加规划时间
left_arm_move_group_ptr_ -> clearPoseTargets();
left_arm_move_group_ptr_ -> clearPathConstraints();
right_arm_move_group_ptr_ -> clearPoseTargets();
right_arm_move_group_ptr_ -> clearPathConstraints();
// 1. 等待TF变换就绪（base_link → 左右末端）
tf2_ros::Buffer tf_buffer(this->get_clock());
tf2_ros::TransformListener tf_listener(tf_buffer);
bool tf_ready = true;
try {
// 等待左末端TF（超时5秒）
tf_buffer.lookupTransform("base_link", end_effector_links_[0], tf2::TimePointZero, tf2::durationFromSec(5.0));
// 等待右末端TF
tf_buffer.lookupTransform("base_link", end_effector_links_[1], tf2::TimePointZero, tf2::durationFromSec(5.0));
} catch (tf2::TransformException &ex) {
RCLCPP_ERROR(this->get_logger(), "TF lookup failed: %s", ex.what());
tf_ready = false;
}
if (!tf_ready) {
result->success = false;
result->message = "TF transform not ready (dirty robot state)";
result->final_progress = 0.0;
return false;
}
// 2. 强制初始化机器人状态
moveit::core::RobotStatePtr left_state = left_arm_move_group_ptr_ -> getCurrentState(10.0); // 超时10秒
moveit::core::RobotStatePtr right_state = right_arm_move_group_ptr_ -> getCurrentState(10.0);
if (!left_state || !right_state || !left_state->satisfiesBounds() || !right_state->satisfiesBounds()) {
RCLCPP_ERROR(this->get_logger(), "Invalid/dirty robot state (NaN joint angles)");
result->success = false;
result->message = "Dirty robot state (invalid joint/transform)";
result->final_progress = 0.0;
return false;
}
// 更新状态变换
left_state->updateLinkTransforms();
right_state->updateLinkTransforms();
left_arm_move_group_ptr_ -> setStartState(*left_state);
right_arm_move_group_ptr_ -> setStartState(*right_state);
// 左手臂设置目标位姿
left_arm_move_group_ptr_ -> setPoseTarget(goal->arm_motion_params[0].target_pose);
moveit::planning_interface::MoveGroupInterface::Plan left_plan;
bool left_plan_success = (left_arm_move_group_ptr_ -> plan(left_plan) == moveit::core::MoveItErrorCode::SUCCESS);
// 右手臂设置目标位姿
right_arm_move_group_ptr_ -> setPoseTarget(goal->arm_motion_params[1].target_pose);
moveit::planning_interface::MoveGroupInterface::Plan right_plan;
bool right_plan_success = (right_arm_move_group_ptr_ -> plan(right_plan) == moveit::core::MoveItErrorCode::SUCCESS);
// 检查规划结果
if (!left_plan_success || !right_plan_success) {
RCLCPP_ERROR(this->get_logger(), "MoveL planning failed: left=%d, right=%d", left_plan_success, right_plan_success);
result->success = false;
result->message = "MoveL planning failed (left/right arm)";
result->final_progress = 0.0;
return false;
}
feedback->progress = 0.5;
feedback->status = static_cast<uint8_t>(MotionStatus::EXECUTING);
// 方式2：精准同步（合并轨迹，需整体规划组，可选）
moveit_msgs::msg::RobotTrajectory merged_traj = mergeTrajectories(left_plan.trajectory_, right_plan.trajectory_);
dual_arm_move_group_ptr_ -> execute(merged_traj);
// ========== 设置最终结果 ==========
feedback->progress = 1.0;
feedback->status = static_cast<uint8_t>(MotionStatus::DONE);
result->success = true;
result->message = "MoveL executed successfully";
result->final_progress = 1.0;
return true;
}
return false;
}
MoveGroupInterface::Plan HcDualArmMotionServer::single_arm_plan(MoveGroupInterface& move_group, ArmMotionParams motion_Params, double step_value)
{
// 初始化路点列表
std::vector<geometry_msgs::msg::Pose> waypoints;
geometry_msgs::msg::Pose current_pose = move_group.getCurrentPose().pose;
waypoints.push_back(current_pose);
waypoints.push_back(motion_Params.target_pose);
// 路径规划参数
double plan_fraction = 0.0; // 路径覆盖率（1.0=完全覆盖）
const int max_attempts = 10; // 最大规划尝试次数
int attempts = 0;
// 设置起始状态为当前机械臂状态
move_group.setStartStateToCurrentState();
MoveGroupInterface::Plan plan;
// 循环尝试规划笛卡尔路径
while(plan_fraction < 1.0 && attempts < max_attempts)
{
plan_fraction = move_group.computeCartesianPath(
waypoints, // 路点列表
step_value, // 终端步进值（米）
0.0, // 跳跃阈值（禁用）
plan.trajectory_,// 输出轨迹
true); // 启用避障
attempts++;
// 每10次打印一次进度
if(attempts % 5 == 0)
{
RCLCPP_INFO(this->get_logger(), "尝试次数: %d, 覆盖率: %f", attempts, plan_fraction);
}
}
// 检查规划结果
if(plan_fraction == 1.0)
{
RCLCPP_INFO(this->get_logger(),"笛卡尔路径规划成功！");
}
else
{
RCLCPP_INFO(this->get_logger(), "路径规划失败，最终覆盖率: %f", plan_fraction);
}
return plan;
}
moveit_msgs::msg::RobotTrajectory HcDualArmMotionServer::mergeTrajectories(
const moveit_msgs::msg::RobotTrajectory& left_traj,
const moveit_msgs::msg::RobotTrajectory& right_traj)
{
moveit_msgs::msg::RobotTrajectory merged_traj;
// 1. 合并关节名（左+右）
merged_traj.joint_trajectory.joint_names = left_traj.joint_trajectory.joint_names;
merged_traj.joint_trajectory.joint_names.insert(
merged_traj.joint_trajectory.joint_names.end(),
right_traj.joint_trajectory.joint_names.begin(),
right_traj.joint_trajectory.joint_names.end()
);
// 2. 对齐时间戳（取最长轨迹时长）
double left_duration = left_traj.joint_trajectory.points.back().time_from_start.sec;
double right_duration = right_traj.joint_trajectory.points.back().time_from_start.sec;
double max_duration = std::max(left_duration, right_duration);
// 3. 缩放轨迹时间（使左右臂轨迹时长一致）
moveit_msgs::msg::RobotTrajectory scaled_left = scaleTrajectoryTime(left_traj, max_duration);
moveit_msgs::msg::RobotTrajectory scaled_right = scaleTrajectoryTime(right_traj, max_duration);
// 4. 合并轨迹点（逐点拼接关节值）
for (size_t i = 0; i < scaled_left.joint_trajectory.points.size(); ++i) {
trajectory_msgs::msg::JointTrajectoryPoint merged_point;
// 左手臂关节值
merged_point.positions = scaled_left.joint_trajectory.points[i].positions;
merged_point.velocities = scaled_left.joint_trajectory.points[i].velocities;
merged_point.accelerations = scaled_left.joint_trajectory.points[i].accelerations;
// 右手臂关节值
merged_point.positions.insert(
merged_point.positions.end(),
scaled_right.joint_trajectory.points[i].positions.begin(),
scaled_right.joint_trajectory.points[i].positions.end()
);
merged_point.velocities.insert(
merged_point.velocities.end(),
scaled_right.joint_trajectory.points[i].velocities.begin(),
scaled_right.joint_trajectory.points[i].velocities.end()
);
merged_point.accelerations.insert(
merged_point.accelerations.end(),
scaled_right.joint_trajectory.points[i].accelerations.begin(),
scaled_right.joint_trajectory.points[i].accelerations.end()
);
// 时间戳
merged_point.time_from_start = scaled_left.joint_trajectory.points[i].time_from_start;
merged_traj.joint_trajectory.points.push_back(merged_point);
}
return merged_traj;
}
moveit_msgs::msg::RobotTrajectory HcDualArmMotionServer::scaleTrajectoryTime(
const moveit_msgs::msg::RobotTrajectory& traj, double target_duration)
{
moveit_msgs::msg::RobotTrajectory scaled_traj = traj;
double original_duration = traj.joint_trajectory.points.back().time_from_start.sec;
double scale = target_duration / original_duration;
for (auto& point : scaled_traj.joint_trajectory.points) {
point.time_from_start = rclcpp::Duration::from_seconds(point.time_from_start.sec * scale);
for (auto& vel : point.velocities) vel /= scale;
for (auto& acc : point.accelerations) acc /= (scale * scale);
}
return scaled_traj;
}
void HcDualArmMotionServer::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg)
{
// 按键映射：btn0=A, btn1=B, btn2=X
static bool last_btn0 = false; // 防抖：避免重复触发
static bool last_btn1 = false;
static bool last_btn2 = false;
static bool last_btn3 = false;
bool trigger_movej = (msg->buttons[0] == 1) && !last_btn0;
bool trigger_movel = (msg->buttons[1] == 1) && !last_btn1;
bool trigger_movel2 = (msg->buttons[3] == 1) && !last_btn3;
bool trigger_cancel = (msg->buttons[2] == 1) && !last_btn2;
// 更新防抖状态
last_btn0 = (msg->buttons[0] == 1);
last_btn1 = (msg->buttons[1] == 1);
last_btn2 = (msg->buttons[2] == 1);
last_btn3 = (msg->buttons[3] == 1);
// 取消运动（简化版）
if (trigger_cancel) {
RCLCPP_INFO(this->get_logger(), "Joy trigger: cancel motion");
current_move_group_ptr_->stop();
return;
}
// 触发MoveJ：通过Action Client发送Goal
if (trigger_movej) {
RCLCPP_INFO(this->get_logger(), "Joy trigger: execute MoveJ");
ArmMotionParams tempParam;
tempParam.motion_type = static_cast<uint8_t>(MotionType::MOVEJ);
tempParam.arm_id = 0;
tempParam.target_joints = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
ArmMotionParams tempParam2;
tempParam2.motion_type = static_cast<uint8_t>(MotionType::MOVEJ);
tempParam2.arm_id = 1;
tempParam2.target_joints = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
auto goal_msg = HcDualArmAction::Goal();
goal_msg.arm_type = static_cast<uint8_t>(ArmType::DUAL);
goal_msg.arm_motion_params.push_back(tempParam);
goal_msg.arm_motion_params.push_back(tempParam2);
goal_msg.velocity_scaling = velocity_scaling_;
goal_msg.cartesian_step = cartesian_step_;
// 配置Goal发送选项（可选：添加回调监听结果）
auto send_goal_options = rclcpp_action::Client<HcDualArmAction>::SendGoalOptions();
send_goal_options.goal_response_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::SharedPtr& goal_handle) {
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "MoveJ Goal rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "MoveJ Goal accepted by server");
}
};
send_goal_options.result_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::WrappedResult& result) {
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
RCLCPP_INFO(this->get_logger(), "MoveJ executed successfully");
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "MoveJ aborted: %s", result.result->message.c_str());
break;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_WARN(this->get_logger(), "MoveJ canceled");
break;
default:
RCLCPP_ERROR(this->get_logger(), "MoveJ unknown result code");
break;
}
};
// 发送Goal（框架会自动调用handle_goal→handle_accepted→execute）
action_client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
// 触发MoveL：通过Action Client发送Goal
if (trigger_movel) {
RCLCPP_INFO(this->get_logger(), "Joy trigger: execute MoveL");
ArmMotionParams tempParam;
tempParam.motion_type = static_cast<uint8_t>(MotionType::MOVEL);
tempParam.arm_id = 0;
current_move_group_ptr_ = dual_arm_move_group_ptr_;
auto current_pose = current_move_group_ptr_->getCurrentPose(end_effector_links_[0]).pose;
current_pose.position.z += 0.2;
tempParam.target_pose = current_pose;
ArmMotionParams tempParam2;
tempParam2.motion_type = static_cast<uint8_t>(MotionType::MOVEL);
tempParam2.arm_id = 1;
current_move_group_ptr_ = dual_arm_move_group_ptr_;
auto current_pose2 = current_move_group_ptr_->getCurrentPose(end_effector_links_[1]).pose;
current_pose2.position.z += 0.3;
tempParam2.target_pose = current_pose2;
auto goal_msg = HcDualArmAction::Goal();
try
{
goal_msg.arm_type = static_cast<uint8_t>(ArmType::DUAL);
goal_msg.arm_motion_params.push_back(tempParam);
goal_msg.arm_motion_params.push_back(tempParam2);
} catch (const std::exception& e) {
RCLCPP_ERROR(this->get_logger(), "Failed to get current pose: %s", e.what());
return;
}
goal_msg.velocity_scaling = velocity_scaling_;
goal_msg.cartesian_step = cartesian_step_;
// 配置Goal发送选项
auto send_goal_options = rclcpp_action::Client<HcDualArmAction>::SendGoalOptions();
send_goal_options.goal_response_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::SharedPtr& goal_handle) {
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "MoveL Goal rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "MoveL Goal accepted by server");
}
};
send_goal_options.result_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::WrappedResult& result) {
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
RCLCPP_INFO(this->get_logger(), "MoveL executed successfully");
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "MoveL aborted: %s", result.result->message.c_str());
break;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_WARN(this->get_logger(), "MoveL canceled");
break;
default:
RCLCPP_ERROR(this->get_logger(), "MoveL unknown result code");
break;
}
};
// 发送Goal
action_client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
if (trigger_movel2) {
RCLCPP_INFO(this->get_logger(), "Joy trigger: execute MoveL");
ArmMotionParams tempParam;
tempParam.motion_type = static_cast<uint8_t>(MotionType::MOVEL);
tempParam.arm_id = 0;
current_move_group_ptr_ = dual_arm_move_group_ptr_;
auto current_pose = current_move_group_ptr_->getCurrentPose(end_effector_links_[0]).pose;
current_pose.position.z -= 0.2;
tempParam.target_pose = current_pose;
ArmMotionParams tempParam2;
tempParam2.motion_type = static_cast<uint8_t>(MotionType::MOVEL);
tempParam2.arm_id = 1;
current_move_group_ptr_ = dual_arm_move_group_ptr_;
auto current_pose2 = current_move_group_ptr_->getCurrentPose(end_effector_links_[1]).pose;
current_pose2.position.z -= 0.3;
tempParam2.target_pose = current_pose2;
auto goal_msg = HcDualArmAction::Goal();
try
{
goal_msg.arm_type = static_cast<uint8_t>(ArmType::DUAL);
goal_msg.arm_motion_params.push_back(tempParam);
goal_msg.arm_motion_params.push_back(tempParam2);
} catch (const std::exception& e) {
RCLCPP_ERROR(this->get_logger(), "Failed to get current pose: %s", e.what());
return;
}
goal_msg.velocity_scaling = velocity_scaling_;
goal_msg.cartesian_step = cartesian_step_;
// 配置Goal发送选项
auto send_goal_options = rclcpp_action::Client<HcDualArmAction>::SendGoalOptions();
send_goal_options.goal_response_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::SharedPtr& goal_handle) {
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "MoveL Goal rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "MoveL Goal accepted by server");
}
};
send_goal_options.result_callback = [this](const rclcpp_action::ClientGoalHandle<HcDualArmAction>::WrappedResult& result) {
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
RCLCPP_INFO(this->get_logger(), "MoveL executed successfully");
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "MoveL aborted: %s", result.result->message.c_str());
break;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_WARN(this->get_logger(), "MoveL canceled");
break;
default:
RCLCPP_ERROR(this->get_logger(), "MoveL unknown result code");
break;
}
};
// 发送Goal
action_client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
}

18
src/hc_dual_arm_motion/src/main.cpp Normal file
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@@ -0,0 +1,18 @@
#include <rclcpp/rclcpp.hpp>
#include "hc_dual_arm_motion_server.hpp"
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::MultiThreadedExecutor executor;
auto node = std::make_shared<HcDualArmMotionServer>();
executor.add_node(node);
RCLCPP_INFO(node->get_logger(), "Motion Action Server Node started");
executor.spin();
rclcpp::shutdown();
return 0;
}