From 13ced40a6f30685559dbbfae0eca01856e3b1f66 Mon Sep 17 00:00:00 2001
From: zachary <zachary>
Date: Thu, 6 May 2021 16:36:08 +0800
Subject: [PATCH] feat: add listen plan exec script.

---
 scripts/sync_signal.py | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100755 scripts/sync_signal.py

diff --git a/scripts/sync_signal.py b/scripts/sync_signal.py
new file mode 100755
index 0000000..74f8b7f
--- /dev/null
+++ b/scripts/sync_signal.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python2
+import time, subprocess
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+def callback(data):
+    rospy.loginfo(rospy.get_caller_id() + "%s", data)
+    data_list = []
+    for index, value in enumerate(data.position):
+        # if index != 2:
+        #     value *= -1
+        data_list.append(value)
+
+    mc.send_radians(data_list, 80)
+    
+def listener():
+    rospy.init_node('mycobot_reciver', anonymous=True)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                    shell=True)
+    mc = MyCobot(port)
+    listener()
\ No newline at end of file