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机械臂仿真与运动路径规划完成

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Quella
2026-02-27 22:52:29 +08:00
parent 35407812af
commit c98a6fae55
1660 changed files with 57342 additions and 4778 deletions
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simulation_ws/log/build_2026-02-27_21-42-54/MoveIt2/command.log Normal file
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Invoking command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/build/MoveIt2 -- -j16 -l16
Invoked command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2' returned '0': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/build/MoveIt2 -- -j16 -l16
Invoking command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/build/MoveIt2
Invoked command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2' returned '0': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/build/MoveIt2

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simulation_ws/log/build_2026-02-27_21-42-54/MoveIt2/stderr.log Normal file
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simulation_ws/log/build_2026-02-27_21-42-54/MoveIt2/stdout.log Normal file
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-- Install configuration: ""
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/package_run_dependencies/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/parent_prefix_path/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.bash
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.zsh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.dsv
-- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/packages/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config.cmake
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config-version.cmake
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.xml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/moveit_rviz.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/setup_assistant.launch.py
-- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/move_group.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/static_virtual_joint_tfs.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/warehouse_db.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/demo.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/rsp.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/spawn_controllers.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/ros2_controllers.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/kinematics.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/pilz_cartesian_limits.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit_controllers.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/initial_positions.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.urdf.xacro
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit.rviz
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.ros2_control.xacro
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/joint_limits.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.srdf
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/.setup_assistant

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simulation_ws/log/build_2026-02-27_21-42-54/MoveIt2/stdout_stderr.log Normal file
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-- Install configuration: ""
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/package_run_dependencies/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/parent_prefix_path/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.bash
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.sh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.zsh
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.dsv
-- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.dsv
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/packages/MoveIt2
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config.cmake
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config-version.cmake
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.xml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/moveit_rviz.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/setup_assistant.launch.py
-- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/move_group.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/static_virtual_joint_tfs.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/warehouse_db.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/demo.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/rsp.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/spawn_controllers.launch.py
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/ros2_controllers.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/kinematics.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/pilz_cartesian_limits.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit_controllers.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/initial_positions.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.urdf.xacro
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit.rviz
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.ros2_control.xacro
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/joint_limits.yaml
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.srdf
-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/.setup_assistant

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simulation_ws/log/build_2026-02-27_21-42-54/MoveIt2/streams.log Normal file
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[0.010s] Invoking command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/build/MoveIt2 -- -j16 -l16
[0.050s] Invoked command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2' returned '0': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/build/MoveIt2 -- -j16 -l16
[0.052s] Invoking command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/build/MoveIt2
[0.059s] -- Install configuration: ""
[0.059s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/package_run_dependencies/MoveIt2
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/parent_prefix_path/MoveIt2
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.sh
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/ament_prefix_path.dsv
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.sh
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/environment/path.dsv
[0.060s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.bash
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.sh
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.zsh
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.dsv
[0.061s] -- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.dsv
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/ament_index/resource_index/packages/MoveIt2
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config.cmake
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/cmake/MoveIt2Config-version.cmake
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/package.xml
[0.061s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/moveit_rviz.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/setup_assistant.launch.py
[0.062s] -- Installing: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/move_group.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/static_virtual_joint_tfs.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/warehouse_db.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/demo.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/rsp.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/launch/spawn_controllers.launch.py
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/ros2_controllers.yaml
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/kinematics.yaml
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/pilz_cartesian_limits.yaml
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit_controllers.yaml
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/initial_positions.yaml
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.urdf.xacro
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/moveit.rviz
[0.062s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.ros2_control.xacro
[0.063s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/joint_limits.yaml
[0.063s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/config/robotic_arm.srdf
[0.063s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/install/MoveIt2/share/MoveIt2/.setup_assistant
[0.065s] Invoked command in '/home/quella/ROS2_WS/simulation_ws/build/MoveIt2' returned '0': CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/build/MoveIt2