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Fix new_320 Moveit joint motion jitter problems

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wangWking 2023-12-11 18:41:07 +08:00
parent 2b690b8bcb
commit 022ab249e5
8 changed files with 58 additions and 39 deletions
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17
mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
View file

@ -1,4 +1,4 @@
#!/usr/bin/env python2 #!/usr/bin/env python
# -*- coding:utf-8 -*- # -*- coding:utf-8 -*-
"""[summary] """[summary]
This file obtains the joint angle of the manipulator in ROS, This file obtains the joint angle of the manipulator in ROS,
@ -8,7 +8,8 @@ Passable parameters:
port: serial prot string. Defaults is '/dev/ttyUSB0' port: serial prot string. Defaults is '/dev/ttyUSB0'
baud: serial prot baudrate. Defaults is 115200. baud: serial prot baudrate. Defaults is 115200.
""" """
import math
import time
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
@ -22,11 +23,11 @@ def callback(data):
data_list = [] data_list = []
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
data_list.append(value) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
mc.send_radians(data_list, 80) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.send_angles(data_list, 25)
# time.sleep(0.5)
def listener(): def listener():
global mc global mc
@ -38,7 +39,9 @@ def listener():
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print(port, baud) print(port, baud)
mc = MyCobot(port, baud) mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
print("spin ...") print("spin ...")
rospy.spin() rospy.spin()

4
mycobot_320/new_mycobot_320_gripper_moveit/launch/moveit.rviz
View file

@ -42,7 +42,7 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Acceleration_Scaling_Factor: 0.1 - Acceleration_Scaling_Factor: 0.5000000000000001
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
@ -263,7 +263,7 @@ Visualization Manager:
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: true Show Robot Visual: true
Value: true Value: true
Velocity_Scaling_Factor: 0.1 Velocity_Scaling_Factor: 0.5000000000000001
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48

13
mycobot_320/new_mycobot_320_gripper_moveit/scripts/sync_plan.py
View file

@ -28,12 +28,12 @@ def callback(data):
data_list = data_list[:7] data_list = data_list[:7]
print("radians:%s"%data_list[:6]) print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 80) mc.send_radians(data_list[:6], 25)
gripper_value = int(abs(-0.7-data_list[6])* 117) gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value) print("gripper_value:%s"%gripper_value)
# mc.set_gripper_mode(0) # mc.set_gripper_mode(0)
# time.sleep(1) # time.sleep(1)
mc.set_gripper_value(gripper_value, 100) mc.set_gripper_value(gripper_value, 90)
def listener(): def listener():
global mc global mc
@ -46,10 +46,15 @@ def listener():
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print(port, baud) print(port, baud)
mc = MyCobot(port, baud) mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
print("spin ...") print("spin ...")
rospy.spin() # rospy.spin()
rate = rospy.Rate(1)
while not rospy.is_shutdown():
rate.sleep()
if __name__ == "__main__": if __name__ == "__main__":

10
mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
View file

@ -11,7 +11,7 @@ Panels:
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
- /TF1 - /TF1
Splitter Ratio: 0.7425600290298462 Splitter Ratio: 0.7425600290298462
Tree Height: 134 Tree Height: 95
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -44,7 +44,7 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Acceleration_Scaling_Factor: 1 - Acceleration_Scaling_Factor: 0.5000000000000001
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
@ -195,7 +195,7 @@ Visualization Manager:
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: false Show Robot Visual: false
Value: true Value: true
Velocity_Scaling_Factor: 1 Velocity_Scaling_Factor: 0.5000000000000001
- Class: rviz/TF - Class: rviz/TF
Enabled: false Enabled: false
Filter (blacklist): "" Filter (blacklist): ""
@ -252,7 +252,7 @@ Visualization Manager:
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 954 Height: 906
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -261,7 +261,7 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000360fc0200000007fb000000100044006900730070006c006100790073010000003d00000117000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000015a000002430000017d00ffffff000004850000036000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d000000f0000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000133000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017a000001f30000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1848 Width: 1848

26
mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py
View file

@ -1,6 +1,7 @@
#!/usr/bin/env python2 #!/usr/bin/env python3
# -*- coding:utf-8 -*- # -*- coding:utf-8 -*-
import time import time
import math
import subprocess import subprocess
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
@ -12,29 +13,34 @@ mc = None
def callback(data): def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", data) # rospy.loginfo(rospy.get_caller_id() + "%s", data)
data_list = [] data_list = []
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
# if index != 2: radians_to_angles = round(math.degrees(value), 2)
# value *= -1 data_list.append(radians_to_angles)
data_list.append(value)
mc.send_radians(data_list, 80) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.send_angles(data_list, 25)
def listener(): def listener():
global mc global mc
rospy.init_node("mycobot_reciver", anonymous=True) rospy.init_node("mycobot_reciver", anonymous=True)
port = rospy.get_param("~port", "/dev/ttyUSB0") port = rospy.get_param("~port", "/dev/ttyACM0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
# 1000000
mc = MyCobot(port, baud)
mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
rospy.spin() # rospy.spin()
rate = rospy.Rate(1)
while not rospy.is_shutdown():
rate.sleep()
if __name__ == "__main__": if __name__ == "__main__":

15
mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_slider.py
View file

@ -9,7 +9,8 @@ Passable parameters:
port: serial prot string. Defaults is '/dev/ttyAMA0' port: serial prot string. Defaults is '/dev/ttyAMA0'
baud: serial prot baudrate. Defaults is 115200. baud: serial prot baudrate. Defaults is 115200.
""" """
import math
import time
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
@ -24,12 +25,11 @@ def callback(data):
print(data.position) print(data.position)
data_list = [] data_list = []
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
data_list.append(value) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
mc.send_radians(data_list, 80) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.send_angles(data_list, 25)
print('data_list:', data_list)
# time.sleep(0.5)
def listener(): def listener():
@ -41,6 +41,9 @@ def listener():
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print(port, baud) print(port, baud)
mc = MyCobot(port, baud) mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
print("spin ...") print("spin ...")

4
mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz
View file

@ -43,7 +43,7 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Acceleration_Scaling_Factor: 1 - Acceleration_Scaling_Factor: 0.5000000000000001
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
@ -194,7 +194,7 @@ Visualization Manager:
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: false Show Robot Visual: false
Value: true Value: true
Velocity_Scaling_Factor: 1 Velocity_Scaling_Factor: 0.5000000000000001
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48

8
mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py
View file

@ -18,9 +18,9 @@ def callback(data):
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
radians_to_angles = round(math.degrees(value), 2) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
# mc.send_radians(data_list, 80) mc.send_angles(data_list, 25)
mc.send_angles(data_list, 60)
def listener(): def listener():
@ -31,7 +31,9 @@ def listener():
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
# 115200 # 115200
mc = MyCobot(port, baud) mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped