何使网站的页面结构更为合理建,wordpress主题The7,中国美食网站模板免费下载,网站建设系统开发感想与收获文章目录 前言搭建开发环境在window中安装Unity创建Docker容器#xff0c;并安装相关软件运行测试改进添加删除节点前的函数调用 报错❌框选节点的时候报错❌如果无法控制机械臂#xff0c;查看rviz2的终端#xff0c;应该会有❌规划路径超出范围 参考 前言
本项目介绍通过… 文章目录 前言搭建开发环境在window中安装Unity创建Docker容器并安装相关软件运行测试改进添加删除节点前的函数调用 报错❌框选节点的时候报错❌如果无法控制机械臂查看rviz2的终端应该会有❌规划路径超出范围 参考 前言
本项目介绍通过Unity3D仿真Panda机械臂为研究机械臂的控制算法、控制效果和构建复杂仿真环境提供虚拟化平台。
2025-5-182025-6-2
要点
PandaArmUnity3DUnity3D项目ros2_docker_wsros2项目matlab包含了验证机械臂位置正逆运动学的算法分析 video: 2025-6-2YOLO机械臂丨使用unity搭建仿真环境YOLO算法识别Moveit2控制2025-5-18: 机械臂位置正逆运动学原理与代码2025-4-13: ros2-rviz2控制unity仿真的6关节机械臂探索从仿真到实际应用的过程 搭建开发环境 Unity:2022Ubuntu:24.04Ros2:jazzy 在window中安装Unity
先安装Unityhuyb然后再安装Unity
https://unity.cn/releases
创建Docker容器并安装相关软件
❇️创建Docker容器
docker run -it -p 6080:80 -p 10000:10000 -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAYhost.docker.internal:0.0 -e PULSE_SERVERhost.docker.internal --nameDockerUnityRos2Arm docker.1ms.run/ubuntu:24.04 /bin/bash❇️安装相关软件
# 按照鱼香ros一键安装ros2
apt-get update
apt install wget -y
wget http://fishros.com/install -O fishros bash fishros# 安装远程显示服务程序
sudo apt-get install x11-xserver-utils
sudo apt install libxcb* -y
sudo apt-get install x11-apps -y# 安装moveit
# 重新打开一个终端
sudo apt install ros-${ROS_DISTRO}-moveit* -y# 安装ros2的控制功能包
sudo apt install ros-${ROS_DISTRO}-controller-manager -y
sudo apt install ros-${ROS_DISTRO}-joint-trajectory-controller -y
sudo apt install ros-${ROS_DISTRO}-joint-state-broadcaster -y
sudo apt install ros-${ROS_DISTRO}-diff-drive-controller -y# 安装运行graph_executer_controller相关的Python包
sudo apt update
sudo apt install python3-pip -y
sudo apt-get install portaudio19-dev -y
sudo apt install espeak -y# 安装音频
apt-get update apt-get install -y alsa-utils pulseaudio
aplay -L # 列出音频设备
# speaker-test -t wav # 测试播放# 使用清华源下载
cd src/graph_executer_controller/
pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple --break-system-packages
pip install pyqtgraph ultralytics --break-system-packages# 调试工具
python3 -m pip install ipykernel -U --user --force-reinstall -i https://pypi.tuna.tsinghua.edu.cn/simple --break-system-packages# 配置Ubuntu支持中文
sudo apt-get install language-pack-zh-hans -y
apt install vim -yvim /etc/environment
# 添加内容
LANGzh_CN.UTF-8
LANGUAGEzh_CN:zh:en_US:envim /var/lib/locales/supported.d/local
# 添加内容
en_US.UTF-8 UTF-8
zh_CN.UTF-8 UTF-8
zh_CN.GBK GBK
zh_CN GB2312sudo locale-gen# 安装中文字体
sudo apt-get install fonts-droid-fallback ttf-wqy-zenhei ttf-wqy-microhei fonts-arphic-ukai fonts-arphic-uming -y# 安装支持playsound的库
apt-get install libgstrtspserver-1.0-dev gstreamer1.0-rtsp -y运行测试
❇️在windows上运行PulseAudio服务 ❇️启动Unity
❇️编译项目
colcon build❇️启动tcp用于ros2与unity连接
source install/setup.bash
ros2 launch ros_tcp_endpoint endpoint.launch.py❇️运行moveitpy_controller
# 打开新的终端
source install/setup.bash
ros2 launch control_server arm_control.launch.py❇️运行graph_executer_controller
# 打开新的终端
source install/setup.bash
cd src/graph_executer_controller
python3 main.py❇️运行panda_moveit_config的demo.launch.py
# 打开新的终端
source install/setup.bash
ros2 launch panda_moveit_config demo.launch.py启动rviz2后可以看到机械臂会有干涉现手动调整到不干涉的位置然后才使用moveitpy控制机械臂否则无法控制机械臂。 改进
添加删除节点前的函数调用
问题描述由于nodegraphqt没有删除节点的操作这里为其添加。
在/usr/local/lib/python3.12/dist-packages/NodeGraphQt/base/graph.py的NodeGraph类的delete_node(self, node, push_undoTrue)函数中添加以下内容 if hasattr(node, _del_node):node._del_node()报错
❌框选节点的时候报错 File /usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py, line 619, in mouseMoveEventself.scene().setSelectionArea(
TypeError: PySide6.QtWidgets.QGraphicsScene.setSelectionArea called with wrong argument types:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(QPainterPath, ItemSelectionMode)
Supported signatures:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, /, selectionOperation: PySide6.QtCore.Qt.ItemSelectionOperation Instance(Qt.ReplaceSelection), mode: PySide6.QtCore.Qt.ItemSelectionMode Instance(Qt.IntersectsItemShape), deviceTransform: PySide6.QtGui.QTransform Default(QTransform))PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, deviceTransform: PySide6.QtGui.QTransform, /)
Error calling Python override of QGraphicsView::mouseMoveEvent(): Traceback (most recent call last):File /usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py, line 619, in mouseMoveEventself.scene().setSelectionArea(
TypeError: PySide6.QtWidgets.QGraphicsScene.setSelectionArea called with wrong argument types:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(QPainterPath, ItemSelectionMode)
Supported signatures:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, /, selectionOperation: PySide6.QtCore.Qt.ItemSelectionOperation Instance(Qt.ReplaceSelection), mode: PySide6.QtCore.Qt.ItemSelectionMode Instance(Qt.IntersectsItemShape), deviceTransform: PySide6.QtGui.QTransform Default(QTransform))PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, deviceTransform: PySide6.QtGui.QTransform, /)✔️Pyside6和nodegraphqt版本不适配导致更改viewer.py以下位置即可
# /usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py# self.scene().setSelectionArea(
# path, QtCore.Qt.IntersectsItemShape
# )
self.scene().setSelectionArea(path,selectionOperationQtCore.Qt.ItemSelectionOperation.ReplaceSelection,modeQtCore.Qt.ItemSelectionMode.IntersectsItemShape
)❌如果无法控制机械臂查看rviz2的终端应该会有
[move_group-3] [ERROR] [1748613208.480924749] [move_group.moveit.moveit.ros.check_start_state_bounds]: Joint panda_joint2 from the starting state is outside bounds by: [1.76294 ] should be in the range [-1.7628 ], [1.7628 ].
[move_group-3] [ERROR] [1748613208.480986559] [move_group]: PlanningRequestAdapter CheckStartStateBounds failed, because Start state out of bounds.. Aborting planning pipeline.✔️:重新启动rviz2即可
❌规划路径超出范围
[ERROR] [1742603349.012384448] [moveit_3836862178.moveit.ros.check_start_state_bounds]: Joint panda_finger_joint1 from the starting state is outside bounds by: [-6.61565e-14 ] should be in the range [0 ], [0.04 ].
[ERROR] [1742603349.012503158] [moveit_py]: PlanningRequestAdapter CheckStartStateBounds failed, because Start state out of bounds.. Aborting planning pipeline.
[ERROR] [1742603349.013678982] [moveit_py.pose_goal]: Planning failed✔️修改joint_limits.yaml限制关节的最大最小位置 参考 docker-ros2-unity-tcp-endpointRobotics-Nav2-SLAM-Exampleunity坐赛车游戏简单三分钟了解一下How to Setup Unity and ROS2 in less than 5 minutes!ros2-for-unitymoveit2_yolobb_wsUnity-Robotics-HubJSON OutputDeepSeek提示库Binary Installation on UbuntuDocs / Gazebo Harmonicros_gz branch jazzyBinary Installation on UbuntuDocs / Gazebo Harmonicros_gz branch jazzy 关注发送DockerRos2UnityArm方便获取仿真代码。
