{"id":117617,"date":"2026-10-25T04:24:29","date_gmt":"2026-10-24T20:24:29","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/117617.html"},"modified":"2026-10-25T04:24:29","modified_gmt":"2026-10-24T20:24:29","slug":"moveit2-%e4%b8%ad-jointtrajectorycontroller-%e5%92%8c-followjointtrajectory-%e6%9c%89%e4%bb%80%e4%b9%88%e5%8c%ba%e5%88%ab%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/117617.html","title":{"rendered":"Moveit2 \u4e2d JointTrajectoryController \u548c FollowJointTrajectory \u6709\u4ec0\u4e48\u533a\u522b\uff1f"},"content":{"rendered":"<p id=\"main-toc\">\u76ee\u5f55<\/p>\n<p id=\"1.%20JointTrajectoryController%20%E6%98%AF%E4%BB%80%E4%B9%88%EF%BC%9F-toc\" style=\"margin-left:40px\">1. JointTrajectoryController \u662f\u4ec0\u4e48&#xff1f;<\/p>\n<p id=\"2.%20FollowJointTrajectory%20%E6%98%AF%E4%BB%80%E4%B9%88%EF%BC%9F-toc\" style=\"margin-left:40px\">2. FollowJointTrajectory \u662f\u4ec0\u4e48&#xff1f;<\/p>\n<p id=\"3.%20%E5%AE%83%E4%BB%AC%E5%A6%82%E4%BD%95%E9%85%8D%E5%90%88%EF%BC%9F-toc\" style=\"margin-left:40px\">3. \u5b83\u4eec\u5982\u4f55\u914d\u5408&#xff1f;<\/p>\n<p id=\"4.%20%E5%9C%A8%E9%85%8D%E7%BD%AE%E6%96%87%E4%BB%B6%E4%B8%AD%E6%80%8E%E4%B9%88%E7%9C%8B%EF%BC%9F-toc\" style=\"margin-left:40px\">4. \u5728\u914d\u7f6e\u6587\u4ef6\u4e2d\u600e\u4e48\u770b&#xff1f;<\/p>\n<p id=\"5.%20%E8%BF%90%E8%A1%8C%E6%97%B6%E5%A6%82%E4%BD%95%E6%9F%A5%E7%9C%8B%20Action%EF%BC%9F-toc\" style=\"margin-left:40px\">5. \u8fd0\u884c\u65f6\u5982\u4f55\u67e5\u770b Action&#xff1f;<\/p>\n<p id=\"6.%20%E6%80%BB%E7%BB%93-toc\" style=\"margin-left:40px\">6. \u603b\u7ed3<\/p>\n<hr id=\"hr-toc\" \/>\n<p>\u5728\u5b66\u4e60 ROS 2 \u63a7\u5236\u673a\u68b0\u81c2\u65f6&#xff0c;\u6211\u9047\u5230\u4e86\u4e24\u4e2a\u5bb9\u6613\u6df7\u6dc6\u7684\u540d\u5b57&#xff1a;<\/p>\n<p>joint_trajectory_controller\/JointTrajectoryController control_msgs\/action\/FollowJointTrajectory<\/p>\n<p>\u5b83\u4eec\u770b\u8d77\u6765\u90fd\u548c\u5173\u8282\u8f68\u8ff9\u6709\u5173&#xff0c;\u4f46\u5b9e\u9645\u4e0a\u4e00\u4e2a\u662f\u63a7\u5236\u5668\u63d2\u4ef6&#xff0c;\u53e6\u4e00\u4e2a\u662fAction \u63a5\u53e3\u3002<\/p>\n<p>\u5148\u7528\u4e00\u53e5\u8bdd\u603b\u7ed3&#xff1a;<\/p>\n<p><span style=\"color:#0d0016\">JointTrajectoryController<\/span> \u662f\u6267\u884c\u8005&#xff0c;<span style=\"color:#0d0016\">FollowJointTrajectory<\/span> \u662f\u5b83\u63a5\u6536\u8f68\u8ff9\u4efb\u52a1\u7684 Action \u63a5\u53e3\u3002<\/p>\n<h3 id=\"1.%20JointTrajectoryController%20%E6%98%AF%E4%BB%80%E4%B9%88%EF%BC%9F\">1. JointTrajectoryController \u662f\u4ec0\u4e48&#xff1f;<\/h3>\n<p><span style=\"color:#0d0016\">JointTrajectoryController<\/span> \u662f ros2_control \u63d0\u4f9b\u7684\u63a7\u5236\u5668\u3002\u5b83\u63a5\u6536\u4e00\u7ec4\u5173\u8282\u8f68\u8ff9&#xff0c;\u5e76\u8ba9\u5bf9\u5e94\u5173\u8282\u6309\u7167\u8f68\u8ff9\u8fd0\u52a8\u3002<\/p>\n<p>\u4f8b\u5982&#xff0c;\u673a\u68b0\u81c2\u6709\u591a\u4e2a\u5173\u8282&#xff0c;\u53ef\u4ee5\u7ed9\u5b83\u4e00\u7ec4\u76ee\u6807&#xff1a;<\/p>\n<p>2 \u79d2\u540e&#xff1a; arm_1_joint \u5230 0.3 rad arm_2_joint \u5230 -0.5 rad arm_3_joint \u5230 0.8 rad<\/p>\n<p>\u63a7\u5236\u5668\u4f1a\u6839\u636e\u8f68\u8ff9\u4e2d\u7684\u5173\u8282\u540d\u79f0\u3001\u76ee\u6807\u4f4d\u7f6e\u548c\u65f6\u95f4\u4fe1\u606f&#xff0c;\u751f\u6210\u5173\u8282\u547d\u4ee4\u5e76\u4ea4\u7ed9\u5e95\u5c42\u786c\u4ef6\u63a5\u53e3\u3002<\/p>\n<p>\u5728\u4eff\u771f\u4e2d&#xff0c;\u5e95\u5c42\u63a5\u53e3\u8fde\u63a5 Gazebo \u7684\u5173\u8282&#xff1b;\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a&#xff0c;\u5e95\u5c42\u63a5\u53e3\u5219\u8fde\u63a5\u5b9e\u9645\u786c\u4ef6\u9a71\u52a8\u3002 \u00a0<\/p>\n<h3 id=\"2.%20FollowJointTrajectory%20%E6%98%AF%E4%BB%80%E4%B9%88%EF%BC%9F\">2. FollowJointTrajectory \u662f\u4ec0\u4e48&#xff1f;<\/h3>\n<p>FollowJointTrajectory \u662f\u4e00\u4e2a ROS 2 Action \u7c7b\u578b&#xff1a;<\/p>\n<p>control_msgs\/action\/FollowJointTrajectory<\/p>\n<p>Action \u9002\u5408\u8017\u65f6\u4efb\u52a1\u3002\u5ba2\u6237\u7aef\u53d1\u9001\u76ee\u6807\u540e&#xff0c;\u53ef\u4ee5\u6301\u7eed\u83b7\u53d6\u6267\u884c\u53cd\u9988&#xff0c;\u4e5f\u53ef\u4ee5\u53d6\u6d88\u4efb\u52a1&#xff0c;\u6700\u540e\u8fd8\u4f1a\u6536\u5230\u6210\u529f\u6216\u5931\u8d25\u7ed3\u679c\u3002<\/p>\n<p>\u673a\u68b0\u81c2\u6267\u884c\u8f68\u8ff9\u901a\u5e38\u9700\u8981\u4e00\u6bb5\u65f6\u95f4&#xff0c;\u6240\u4ee5\u7528 Action \u53d1\u9001\u548c\u76d1\u63a7\u8f68\u8ff9\u5f88\u5408\u9002\u3002<\/p>\n<h3 id=\"3.%20%E5%AE%83%E4%BB%AC%E5%A6%82%E4%BD%95%E9%85%8D%E5%90%88%EF%BC%9F\">3. \u5b83\u4eec\u5982\u4f55\u914d\u5408&#xff1f;<\/h3>\n<p>\u53ef\u4ee5\u628a\u5b83\u4eec\u7684\u5173\u7cfb\u7406\u89e3\u6210&#xff1a;<\/p>\n<p>MoveIt \u6216\u5176\u4ed6\u5ba2\u6237\u7aef \u00a0 \u00a0 \u00a0 \u00a0 \u2502 \u00a0 \u00a0 \u00a0 \u00a0 \u2502 \u53d1\u9001 FollowJointTrajectory Action \u76ee\u6807 \u00a0 \u00a0 \u00a0 \u00a0 \u25bc JointTrajectoryController \u00a0 \u00a0 \u00a0 \u00a0 \u2502 \u00a0 \u00a0 \u00a0 \u00a0 \u2502 \u8f93\u51fa\u5173\u8282\u547d\u4ee4 \u00a0 \u00a0 \u00a0 \u00a0 \u25bc ros2_control \u786c\u4ef6\u63a5\u53e3 \u00a0 \u00a0 \u00a0 \u00a0 \u2502 \u00a0 \u00a0 \u00a0 \u00a0 \u25bc Gazebo \u4eff\u771f\u5173\u8282\u6216\u771f\u5b9e\u673a\u68b0\u81c2<\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\n<p>FollowJointTrajectory \u5b9a\u4e49\u4e86\u5ba2\u6237\u7aef\u548c\u63a7\u5236\u5668\u4e4b\u95f4\u5982\u4f55\u901a\u4fe1\u3002<\/p>\n<\/li>\n<li>\n<p>JointTrajectoryController \u63a5\u6536\u5e76\u6267\u884c\u8f68\u8ff9\u3002<\/p>\n<\/li>\n<li>\n<p>ros2_control \u786c\u4ef6\u63a5\u53e3\u8d1f\u8d23\u628a\u63a7\u5236\u5668\u547d\u4ee4\u4f20\u5230\u5e95\u5c42\u3002<\/p>\n<\/li>\n<\/ul>\n<h3 id=\"4.%20%E5%9C%A8%E9%85%8D%E7%BD%AE%E6%96%87%E4%BB%B6%E4%B8%AD%E6%80%8E%E4%B9%88%E7%9C%8B%EF%BC%9F\">4. \u5728\u914d\u7f6e\u6587\u4ef6\u4e2d\u600e\u4e48\u770b&#xff1f;<\/h3>\n<p>\u4ee5\u673a\u68b0\u81c2\u63a7\u5236\u5668\u4e3a\u4f8b&#xff0c;\u63a7\u5236\u5668\u7ba1\u7406\u5668\u7684\u914d\u7f6e\u53ef\u80fd\u662f&#xff1a;<\/p>\n<p>controller_manager:<br \/>\n  ros__parameters:<br \/>\n    arm_controller:<br \/>\n      type: joint_trajectory_controller\/JointTrajectoryController <\/p>\n<p>\u8868\u793a&#xff1a;\u52a0\u8f7d\u4e00\u4e2a\u540d\u4e3a arm_controller \u7684\u63a7\u5236\u5668\u5b9e\u4f8b&#xff0c;\u5e76\u4f7f\u7528 JointTrajectoryController \u63d2\u4ef6\u3002<\/p>\n<p>\u63a7\u5236\u5668\u81ea\u5df1\u7684\u53c2\u6570\u8fd8\u4f1a\u6307\u5b9a\u8981\u63a7\u5236\u54ea\u4e9b\u5173\u8282&#xff0c;\u4ee5\u53ca\u4f7f\u7528\u4ec0\u4e48\u547d\u4ee4\u63a5\u53e3&#xff1a;<\/p>\n<p>arm_controller:<br \/>\n  ros__parameters:<br \/>\n    joints:<br \/>\n      &#8211; arm_1_joint<br \/>\n      &#8211; arm_2_joint<br \/>\n      &#8211; arm_3_joint<br \/>\n    command_interfaces:<br \/>\n      &#8211; position<br \/>\n    state_interfaces:<br \/>\n      &#8211; position<br \/>\n      &#8211; velocity <\/p>\n<p>\u914d\u7f6e\u4e2d\u7684 <span style=\"color:#0d0016\">arm_controller <\/span>\u662f\u5b9e\u4f8b\u540d\u79f0&#xff1b;<span style=\"color:#0d0016\">joint_trajectory_controller\/JointTrajectoryController <\/span>\u662f\u63d2\u4ef6\u7c7b\u578b\u3002\u5b83\u4eec\u4e5f\u4e0d\u662f Action \u540d\u79f0\u3002<\/p>\n<h3 id=\"5.%20%E8%BF%90%E8%A1%8C%E6%97%B6%E5%A6%82%E4%BD%95%E6%9F%A5%E7%9C%8B%20Action%EF%BC%9F\"> 5. \u8fd0\u884c\u65f6\u5982\u4f55\u67e5\u770b Action&#xff1f;<\/h3>\n<p>\u63a7\u5236\u5668\u542f\u52a8\u5e76\u6fc0\u6d3b\u540e&#xff0c;\u53ef\u4ee5\u7528\u4e0b\u9762\u7684\u547d\u4ee4\u67e5\u770b Action&#xff1a;<\/p>\n<p>ros2 action list -t <\/p>\n<p>\u901a\u5e38\u4f1a\u770b\u5230\u7c7b\u4f3c&#xff1a;<\/p>\n<p>\/arm_controller\/follow_joint_trajectory<br \/>\n[control_msgs\/action\/FollowJointTrajectory] <\/p>\n<p>\u8fd9\u91cc&#xff1a;<\/p>\n<ul>\n<li>\/arm_controller\/follow_joint_trajectory \u662f Action \u540d\u79f0\u3002<\/li>\n<li>control_msgs\/action\/FollowJointTrajectory \u662f Action \u7c7b\u578b\u3002<\/li>\n<li>arm_controller \u662f\u63a7\u5236\u5668\u5b9e\u4f8b\u540d\u79f0\u3002<\/li>\n<\/ul>\n<h3 id=\"6.%20%E6%80%BB%E7%BB%93\">6. \u603b\u7ed3<\/h3>\n<p>\u7406\u89e3\u8fd9\u4e24\u4e2a\u540d\u5b57\u65f6&#xff0c;\u8bb0\u4f4f\u5b83\u4eec\u6240\u5728\u7684\u5c42\u6b21&#xff1a;<\/p>\n<p>JointTrajectoryController&#xff1a;\u8d1f\u8d23\u6267\u884c\u8f68\u8ff9\u7684\u63a7\u5236\u5668\u63d2\u4ef6<br \/>\nFollowJointTrajectory&#xff1a;\u5ba2\u6237\u7aef\u5411\u63a7\u5236\u5668\u53d1\u9001\u8f68\u8ff9\u4efb\u52a1\u7684 Action \u63a5\u53e3 <\/p>\n<p>\u6240\u4ee5\u5b83\u4eec\u4e0d\u662f\u4e24\u4e2a\u4e92\u76f8\u7ade\u4e89\u7684\u63a7\u5236\u5668&#xff0c;\u800c\u662f\u6267\u884c\u8005\u4e0e\u901a\u4fe1\u63a5\u53e3\u7684\u5173\u7cfb\u3002 MoveIt \u89c4\u5212\u51fa\u673a\u68b0\u81c2\u8f68\u8ff9\u540e&#xff0c;\u53ef\u4ee5\u901a\u8fc7 <span style=\"color:#0d0016\">FollowJointTrajectory <\/span>\u628a\u8f68\u8ff9\u4ea4\u7ed9 <span style=\"color:#0d0016\">JointTrajectoryController <\/span>\u6267\u884c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u76ee\u5f55<br \/>\n1. JointTrajectoryController \u662f\u4ec0\u4e48&#xff1f;<br \/>\n2. 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JointTrajectoryController \u662f\u4ec0\u4e48&#xff1f; 2. 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