这个问题我解决了。
是因为在rosrun probot_demo moveit_ik_demo.py这个demo中,有下面这段语句
原始是 traj = arm.plan()
我给修改成这样的了:plan_success, traj, planning_time, error_code = arm.plan()
修改后,可能还会遇到:[ WARN] [1622524817.107530665]: Fail: ABORTED: No motion plan found. No execution attempted.
这个时候,只要去修改 target_pose = PoseStamped()
target_pose.header.frame_id = reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.3593
target_pose.pose.position.y = 0.1636
target_pose.pose.position.z = 0.2787
target_pose.pose.orientation.x = 0.70692
target_pose.pose.orientation.y = 0.1
target_pose.pose.orientation.z = 0.2
target_pose.pose.orientation.w = 0.70729
这些末端位置就行了。
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