# a1x_ros

**Repository Path**: xiaobairisk/a1x_ros

## Basic Information

- **Project Name**: a1x_ros
- **Description**: 用于a1x机械臂ros-noetic使用
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-05-18
- **Last Updated**: 2025-06-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# A1X 机械臂 ROS 控制与仿真

本项目为A1X机械臂提供完整的ROS支持，包括URDF模型、MoveIt配置、Mujoco仿真和遥操作控制功能。

## 功能特性

- 完整的URDF机械臂描述文件
- MoveIt!运动规划配置
- Mujoco物理仿真环境
- 遥操作控制接口
- Gazebo仿真支持

## 系统要求

- Ubuntu 20.04
- ROS Noetic
- Python 3
- Mujoco (仅仿真需要)

## 安装指南

1. 安装ROS Noetic:
```bash
sudo apt install ros-noetic-desktop-full
```

2. 安装依赖:
```bash
# Mujoco (可选，仅仿真需要)
pip3 install mujoco
```

```bash
sudo apt install can-utils net-tools ros-noetic-trac-ik* ros-noetic-moveit* -y
```

3. 构建工作空间:
```bash
cd ~/a1x_ros
catkin_make
source devel/setup.bash
```

```bash
echo "source ~/a1x_ros/install/setup.bash" >> ~/.bashrc
echo "export ROS_PACKAGE_PATH=~/a1x_ros/src/a1x_description:~/a1x_ros/src/a1x_moveit_config:~/a1x_ros/src/a1x_mujoco_sim:$ROS_PACKAGE_PATH" >> ~/.bashrc
```

## 使用说明

### 1. 基础URDF可视化
```bash
roslaunch a1x_description display_a1x.launch
```

### 2. MoveIt!演示
```bash
roslaunch HDAS A1XY_teleop_arm_arm.launch
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch a1x_moveit_config demo.launch
```

### 3. Mujoco仿真
```bash
rosrun a1x_mujoco_sim a1x_mujoco_manual_sim.py
```
**控制按键**:
```
A/D: 关节0 +/- 
W/S: 关节1 +/-
K/I: 关节2 +/-
L/J: 关节3 +/-
Z/X: 关节4 +/-
Q/E: 关节5 +/-
0: 回零位
```

### 4. 远程控制
```bash
roslaunch HDAS A1XY_teleop_arm_arm.launch
roslaunch mobiman tabletop_tele_a1x_arm_arm.launch
# 夹爪
roslaunch mobiman a1xy_gripperController_arm_arm.launch
```

## 文件结构

```
a1x_ros/
├── src/
│   ├── a1x_description/        # URDF模型和描述文件
│   ├── a1x_moveit_config/      # MoveIt配置
│   └── a1x_mujoco_sim/         # Mujoco仿真
```

## 许可证

本项目采用 [MIT License](LICENSE).