kenaug74/mycobot_ros
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add robot information output.

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This commit is contained in:
zachary 2021-04-30 18:03:20 +08:00
parent 7da31f6034
commit 05db4baccb
2 changed files with 51 additions and 7 deletions
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8
launch/communication_service.launch
View file

@ -3,8 +3,8 @@
<arg name="BAUD" default="115200" /> <arg name="BAUD" default="115200" />
<!-- Open communication service --> <!-- Open communication service -->
<node name="mycobot_services" pkg="myCobotROS" type="mycobot_ros.py"> <node name="mycobot_services" pkg="myCobotROS" type="mycobot_ros.py" output="screen">
<param name="port" type="string" value="$(arg PORT)" /> <param name="port" type="string" value="$(arg PORT)" />
<param name="baud" type="int" value="$(arg BAUD)" /> <param name="baud" type="int" value="$(arg BAUD)" />
</node> </node>
</launch> </launch>

50
scripts/mycobot_ros.py
View file

@ -1,4 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
import time
import rospy import rospy
from myCobotROS.srv import * from myCobotROS.srv import *
@ -7,7 +8,7 @@ from pymycobot.mycobot import MyCobot
mc = None mc = None
def mycobot_services(): def create_handle():
global mc global mc
rospy.init_node('mycobot_services') rospy.init_node('mycobot_services')
rospy.loginfo('start ...') rospy.loginfo('start ...')
@ -16,6 +17,8 @@ def mycobot_services():
rospy.loginfo("%s,%s" % (port, baud)) rospy.loginfo("%s,%s" % (port, baud))
mc = MyCobot(port, baud) mc = MyCobot(port, baud)
def create_services():
rospy.Service('set_joint_angles', SetAngles, set_angles) rospy.Service('set_joint_angles', SetAngles, set_angles)
rospy.Service('get_joint_angles', GetAngles, get_angles) rospy.Service('get_joint_angles', GetAngles, get_angles)
rospy.Service('set_joint_coords', SetCoords, set_coords) rospy.Service('set_joint_coords', SetCoords, set_coords)
@ -43,7 +46,6 @@ def set_angles(req):
def get_angles(req): def get_angles(req):
if mc: if mc:
angles = mc.get_angles() angles = mc.get_angles()
print(angles)
return GetAnglesResponse(*angles) return GetAnglesResponse(*angles)
@ -79,6 +81,48 @@ def switch_status(req):
mc.set_gripper_state(1, 80) mc.set_gripper_state(1, 80)
robot_msg = '''
MyCobot Status
--------------------------------
Joint Limit:
joint 1: -170 ~ +170
joint 2: -170 ~ +170
joint 3: -170 ~ +170
joint 4: -170 ~ +170
joint 5: -170 ~ +170
joint 6: -180 ~ +180
Connect Status: %s
Servo Infomation: %s
Servo Temperature: %s
Atom Version: %s
'''
def output_robot_message():
connect_status = False
servo_infomation = 'unknown'
servo_temperature = 'unknown'
atom_version = 'unknown'
if mc:
cn = mc.is_controller_connected()
if cn == 1:
connect_status = True
time.sleep(.1)
si = mc.is_all_servo_enable()
if si == 1:
servo_infomation = 'all connected'
print(robot_msg % (connect_status, servo_infomation,
servo_temperature, atom_version))
if __name__ == '__main__': if __name__ == '__main__':
# print(MyCobot.__dict__) # print(MyCobot.__dict__)
mycobot_services() create_handle()
output_robot_message()
create_services()