mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
update code to noetic
This commit is contained in:
weijian
parent
10964f48b0
commit
02f7353b1d
12 changed files with 18 additions and 466 deletions
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@ -26,9 +26,6 @@ catkin_install_python(PROGRAMS
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scripts/teleop_keyboard.py
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scripts/listen_real.py
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scripts/listen_real_of_topic.py
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scripts/detect_marker.py
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scripts/following_marker.py
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scripts/follow_and_pump.py
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scripts/simple_gui.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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@ -1,16 +0,0 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
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<arg name="gui" default="true" />
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<arg name="num" default="0" />
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<include file="$(find mycobot_280)/launch/slider_control.launch">
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<arg name="model" value="$(arg model)" />
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<arg name="rvizconfig" value="$(arg rvizconfig)" />
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<arg name="gui" value="$(arg gui)" />
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</include>
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<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
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<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
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<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
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</launch>
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@ -1,29 +0,0 @@
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<launch>
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
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<arg name="gui" default="false" />
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<arg name="num" default="0" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- mycobot-topics -->
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<include file="$(find mycobot_communication)/launch/communication_topic.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles -->
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<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
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<!-- vision node -->
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<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
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<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
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<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
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</launch>
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@ -6,8 +6,8 @@
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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@ -1,123 +0,0 @@
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#!/usr/bin/env python
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import rospy
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import cv2 as cv
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import numpy as np
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from cv_bridge import CvBridge, CvBridgeError
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from sensor_msgs.msg import Image
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import tf
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from tf.broadcaster import TransformBroadcaster
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import tf_conversions
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from mycobot_communication.srv import (
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GetCoords,
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SetCoords,
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GetAngles,
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SetAngles,
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GripperStatus,
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)
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class ImageConverter:
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def __init__(self):
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self.br = TransformBroadcaster()
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self.bridge = CvBridge()
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self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
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self.aruo_params = cv.aruco.DetectorParameters_create()
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calibrationParams = cv.FileStorage(
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"calibrationFileName.xml", cv.FILE_STORAGE_READ
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)
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self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
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self.camera_matrix = None
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# subscriber, listen wether has img come in.
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self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
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def callback(self, data):
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"""Callback function.
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Process image with OpenCV, detect Mark to get the pose. Then acccording the
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pose to transforming.
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"""
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try:
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# trans `rgb` to `gbr` for opencv.
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cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
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except CvBridgeError as e:
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print(e)
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size = cv_image.shape
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focal_length = size[1]
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center = [size[1] / 2, size[0] / 2]
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if self.camera_matrix is None:
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# calc the camera matrix, if don't have.
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self.camera_matrix = np.array(
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[
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[focal_length, 0, center[0]],
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[0, focal_length, center[1]],
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[0, 0, 1],
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],
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dtype=np.float32,
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)
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gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
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# detect aruco marker.
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ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
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corners, ids = ret[0], ret[1]
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# process marker data.
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if len(corners) > 0:
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if ids is not None:
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# print('corners:', corners, 'ids:', ids)
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# detect marker pose.
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# argument:
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# marker corners
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# marker size (meter)
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ret = cv.aruco.estimatePoseSingleMarkers(
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corners, 0.05, self.camera_matrix, self.dist_coeffs
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)
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(rvec, tvec) = (ret[0], ret[1])
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(rvec - tvec).any()
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print("rvec:", rvec, "tvec:", tvec)
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# just select first one detected marker.
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for i in range(rvec.shape[0]):
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cv.aruco.drawDetectedMarkers(cv_image, corners)
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cv.aruco.drawAxis(
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cv_image,
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self.camera_matrix,
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self.dist_coeffs,
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rvec[i, :, :],
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tvec[i, :, :],
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0.03,
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)
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xyz = tvec[0, 0, :]
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xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
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# get quaternion for ros.
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euler = rvec[0, 0, :]
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tf_change = tf.transformations.quaternion_from_euler(
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euler[0], euler[1], euler[2]
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)
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print("tf_change:", tf_change)
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# trans pose according [joint1]
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self.br.sendTransform(
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xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
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)
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# [x, y, z, -172, 3, -46.8]
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cv.imshow("Image", cv_image)
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cv.waitKey(3)
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try:
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pass
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except CvBridgeError as e:
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print(e)
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if __name__ == "__main__":
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try:
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rospy.init_node("detect_marker")
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rospy.loginfo("Starting cv_bridge_test node")
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ImageConverter()
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rospy.spin()
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except KeyboardInterrupt:
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print("Shutting down cv_bridge_test node.")
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cv.destroyAllWindows()
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@ -1,155 +0,0 @@
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#!/usr/bin/env python2
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import rospy
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from visualization_msgs.msg import Marker
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import time
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from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
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rospy.init_node("gipper_subscriber", anonymous=True)
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angle_pub = rospy.Publisher("mycobot/angles_goal", MycobotSetAngles, queue_size=5)
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coord_pub = rospy.Publisher("mycobot/coords_goal", MycobotSetCoords, queue_size=5)
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pump_pub = rospy.Publisher("mycobot/pump_status", MycobotPumpStatus, queue_size=5)
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angles = MycobotSetAngles()
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coords = MycobotSetCoords()
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pump = MycobotPumpStatus()
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x_offset = -20
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y_offset = 20
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z_offset = 110
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flag = False
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temp_x = temp_y = temp_z = 0.0
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temp_time = time.time()
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def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
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coords.x = x
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coords.y = y
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coords.z = z
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coords.rx = rx
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coords.ry = ry
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coords.rz = rz
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coords.speed = 70
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coords.model = m
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# print(coords)
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coord_pub.publish(coords)
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def pub_angles(a, b, c, d, e, f, sp):
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angles.joint_1 = float(a)
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angles.joint_2 = float(b)
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angles.joint_3 = float(c)
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angles.joint_4 = float(d)
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angles.joint_5 = float(e)
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angles.joint_6 = float(f)
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angles.speed = sp
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angle_pub.publish(angles)
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def pub_pump(flag):
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pump.Status = flag
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pump_pub.publish(pump)
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def target_is_moving(x, y, z):
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count = 0
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for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
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print(o, n)
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if abs(o - n) < 2:
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count += 1
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print(count)
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if count == 3:
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return False
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return True
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def grippercallback(data):
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global flag, temp_x, temp_y, temp_z
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# rospy.loginfo('gripper_subscriber get date :%s', data)
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if flag:
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return
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# pump length: 88mm
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x = float(format(data.pose.position.x * 1000, ".2f"))
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y = float(format(data.pose.position.y * 1000, ".2f"))
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z = float(format(data.pose.position.z * 1000, ".2f"))
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if (
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time.time() - temp_time < 30
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or (temp_x == temp_y == temp_z == 0.0)
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or target_is_moving(x - x_offset, y - y_offset, z)
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):
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x -= x_offset
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y -= y_offset
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pub_coords(x - 20, y, 280)
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time.sleep(0.1)
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temp_x, temp_y, temp_z = x, y, z
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return
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else:
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print(x, y, z)
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# detect heigth + pump height + limit height + offset
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x += x_offset
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y += y_offset
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z = z + 88 + z_offset
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pub_coords(x, y, z)
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time.sleep(2.5)
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# down
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for i in range(1, 17):
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pub_coords(x, y, z - i * 5, rx=-160, sp=10)
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time.sleep(0.1)
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time.sleep(2)
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pub_pump(True)
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# pump on
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pub_coords(x, y, z + 20, -165)
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time.sleep(1.5)
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pub_angles(0, 30, -50, -40, 0, 0, 50)
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time.sleep(1.5)
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put_z = 140
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pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
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time.sleep(1.5)
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for i in range(1, 8):
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pub_coords(39.4, -174.7, put_z - i * 5, -177.13, -4.13, -152.59, 15, 2)
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time.sleep(0.1)
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pub_pump(False)
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time.sleep(0.5)
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pub_angles(0, 30, -50, -40, 0, 0, 50)
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time.sleep(1.5)
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# finally
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flag = True
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def main():
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for _ in range(10):
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# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
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pub_angles(0, 30, -50, -40, 0, 0, 50)
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# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
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time.sleep(0.5)
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pub_pump(False)
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# time.sleep(2.5)
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rospy.Subscriber("visualization_marker", Marker, grippercallback, queue_size=1)
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print("gripper test")
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rospy.spin()
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if __name__ == "__main__":
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main()
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@ -1,4 +1,4 @@
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#!/usr/bin/env python2
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#!/usr/bin/env python3
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import time
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import os
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import rospy
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@ -41,12 +41,6 @@ def talker():
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joint_state_send.header = Header()
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joint_state_send.name = [
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# "joint2_to_joint1",
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# "joint3_to_joint2",
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# "joint4_to_joint3",
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# "joint5_to_joint4",
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# "joint6_to_joint5",
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# "joint6output_to_joint6",
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"joint1_L",
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"joint2_L",
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"joint3_L",
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@ -69,94 +63,42 @@ def talker():
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marker_.header.frame_id = "/base_link1"
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marker_.ns = "my_namespace"
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print("joint_state_send:%s" % joint_state_send)
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print("publishing ...")
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while not rospy.is_shutdown():
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joint_state_send.header.stamp = rospy.Time.now()
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# =======left_radians=======
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# lencoder = mb.get_encoders(1)
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# left_radians = []
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# for index, value in enumerate(lencoder):
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# value = (value-2048)*2*math.pi/4096
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# left_radians.append(value)
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left_radians = mb.get_radians(1)
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# print("left_radians: %s" % left_radians)
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# if not left_radians:
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# left_radians = [-0.008, 0.073, -0.008, 0.162, -0.479, 0.767]
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# print("set left_radians: %s" % left_radians)
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# elif left_radians:
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# print("left_radians: %s" % left_radians)
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# =======right_radians=======
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# rencoder = mb.get_encoders(2)
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# right_radians = []
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# for index, value in enumerate(rencoder):
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# value = (value-2048)*2*math.pi/4096
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# right_radians.append(value)
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right_radians = mb.get_radians(2)
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# # print("right_radians: %s" % right_radians)
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# if not right_radians:
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# right_radians = [-0.008, -0.073, -0.008, 0.162, -0.479, 0.767]
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# print("set right_radians: %s" % right_radians)
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# elif right_radians:
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# print("right_radians: %s" % right_radians)
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# =======waist_radian=======
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# wencoder = mb.get_encoder(3,1)
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wangles = mb.get_angles(3)[0]*(math.pi/180)
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print("wangles : %s" % wangles)
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# waist_radian =wangles[0]*(math.pi/180)
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waist_radian =[]
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waist_radian.append(wangles)
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print("waist_radian : %s" % waist_radian)
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# for index, value in enumerate(wencoder):
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# value = (value-2048)*2*math.pi/4096
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# waist_radian.append((wencoder-2048)*2*math.pi/4096)
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# print("waist_radian: %s "%waist_radian)
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# if not waist_radian:
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# waist_radian = [0]
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# print("set waist_radian:%s" % waist_radian)
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print('left:',left_radians,'right:',right_radians,'w:',waist_radian)
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# =======all_radians=======
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all_radians = left_radians + right_radians + waist_radian
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data_list = []
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for index, value in enumerate(all_radians):
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data_list.append(value)
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# rospy.loginfo('{}'.format(data_list))
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joint_state_send.position = data_list
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print("all_radians: %s" % data_list)
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|
||||
pub.publish(joint_state_send)
|
||||
|
||||
# =======left_coords=======
|
||||
left_coords = mb.get_coords(1)
|
||||
# print("left_coords: %s" % left_coords)
|
||||
# if not left_coords:
|
||||
# # rospy.loginfo("error [101]: can not get left_coord values")
|
||||
# left_coords = [-50.4, 63.4, 411.6, -91.23, -0.08, -90.08]
|
||||
# print("set lc:",left_coords)
|
||||
|
||||
# =======right_coords=======
|
||||
right_coords = mb.get_coords(2)
|
||||
# print("right_coords: %s " % right_coords)
|
||||
# if not right_coords:
|
||||
# # rospy.loginfo("error [101]: can not get right_coords values")
|
||||
# right_coords = [50.4, -63.4, 411.6, -91.23, -0.08, -90.08]
|
||||
# # print("set rc:",right_coords)
|
||||
# right_coords = [50.4, -63.4, 411.6, -91.23, -0.08, -90.08]
|
||||
|
||||
# waist_coords = mb.get_coords(3)
|
||||
waist_coords = mb.get_angles(3)
|
||||
print("waist_coords: %s " % waist_coords[0])
|
||||
# coords = left_coords + right_coords
|
||||
# print("all_coords:%s" % coords)
|
||||
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = rospy.Time.now()
|
||||
marker_.type = marker_.SPHERE
|
||||
|
|
@ -178,7 +120,7 @@ def talker():
|
|||
|
||||
time.sleep(0.02)
|
||||
|
||||
marker_.pose.position.x = waist_coords[1] / 1000 * -1
|
||||
marker_.pose.position.x = waist_coords[0] / 1000 * -1
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.r = 0.0
|
||||
|
|
|
|||
|
|
@ -1,64 +0,0 @@
|
|||
#!/usr/bin/env python2
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
import tf
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("following_marker", anonymous=True)
|
||||
|
||||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
|
||||
rate = rospy.Rate(20)
|
||||
|
||||
listener = tf.TransformListener()
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/joint1"
|
||||
marker_.ns = "basic_cube"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
now = rospy.Time.now() - rospy.Duration(0.1)
|
||||
|
||||
try:
|
||||
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
continue
|
||||
|
||||
print(type(trans), trans)
|
||||
print(type(rot), rot)
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = now
|
||||
marker_.type = marker_.CUBE
|
||||
marker_.action = marker_.ADD
|
||||
marker_.scale.x = 0.04
|
||||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
marker_.pose.position.x = trans[0]
|
||||
marker_.pose.position.y = trans[1]
|
||||
marker_.pose.position.z = trans[2]
|
||||
marker_.pose.orientation.x = rot[0]
|
||||
marker_.pose.orientation.y = rot[1]
|
||||
marker_.pose.orientation.z = rot[2]
|
||||
marker_.pose.orientation.w = rot[3]
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.g = 1.0
|
||||
pub_marker.publish(marker_)
|
||||
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#!/usr/bin/env python2
|
||||
#!/usr/bin/env python3
|
||||
# license removed for brevity
|
||||
import time
|
||||
import math
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
import Tkinter as tk
|
||||
import tkinter as tk
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
import time
|
||||
|
|
|
|||
|
|
@ -1,11 +1,11 @@
|
|||
#!/usr/bin/env python2
|
||||
#!/usr/bin/env python3
|
||||
|
||||
"""[summary]
|
||||
This file obtains the joint angle of the manipulator in ROS,
|
||||
and then sends it directly to the real manipulator using `pymycobot` API.
|
||||
This file is [slider_control.launch] related script.
|
||||
Passable parameters:
|
||||
port: serial prot string. Defaults is '/dev/ttyUSB0'
|
||||
port: serial prot string. Defaults is '/dev/ttyACM0'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
|
||||
|
|
@ -41,7 +41,7 @@ def callback(data):
|
|||
mb.send_radians(2,data_list2, 50)
|
||||
time.sleep(0.02)
|
||||
|
||||
print(data_list3[0]* (180 / math.pi))
|
||||
# print(data_list3[0]* (180 / math.pi))
|
||||
print("\n")
|
||||
|
||||
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#!/usr/bin/env python
|
||||
#!/usr/bin/env python3
|
||||
from __future__ import print_function
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue