MoveIt2 使用配置助手创建自己机械臂的功能包

2025.5.20

MoveIt2 和配置助手的二进制安装

sudo apt install ros-humble-moveit ros-humble-moveit-setup-assistant -y

安装 ROS2 Control 相关的功能包

sudo apt install ros-humble-controller-manager -y
sudo apt install ros-humble-joint-trajectory-controller ros-humble-joint-state-broadcaster -y

下载机械臂功能包

git clone https://github.com/fishros/elite_robot_ros2

编译机械臂功能包

cd ~/elite_robot_ros2
colcon build
source install/setup.bash

运行配置助手

ros2 run moveit_setup_assistant moveit_setup_assistant

编译工作空间

cd ~/elite_robot_ros2
colcon build

运行 Demo

source install/setup.bash 
ros2 launch elite_ec66_moveit_config demo.launch.py