ros2-humble moveit2 配置机器人修改项

可能出的bug

config/joint_limits.yaml 数据类型错误
max_velocity: 1 -> max_velocity: 1.0

config/sensors_3d.yaml 可能不完整
正确格式如下

sensors:

• default_sensor
  default_sensor:
  filtered_cloud_topic: filtered_cloud
  max_range: 5.0
  max_update_rate: 1.0
  padding_offset: 0.1
  padding_scale: 1.0
  point_cloud_topic: /head_mount_kinect/depth_registered/points
  point_subsample: 1
  sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

config/ros2_controllers.yaml 可能不完整

command_interfaces:
  []
state_interfaces:
  []
  
  ->
  
command_interfaces:
  - position
state_interfaces:
  - position
  - velocity

config/moveit_controllers.yaml 可能会丢action_ns

right_hand_controller:
type: FollowJointTrajectory
joints:
  - right_hand_joint1
  - right_hand_joint2
  - right_hand_joint3
  - right_hand_joint4
  - right_hand_joint5
  - right_hand_joint6
  - right_hand_joint7
action_ns: follow_joint_trajectory
default: true

trac_ik
可以用官方版本，编译不通过时把报错找不到的.hpp文件改成.h文件即可
git clone -b rolling https://bitbucket.org/traclabs/trac_ik.git
https://github.com/stevengj/nlopt