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update port

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This commit is contained in:
wangWking 2024-01-23 18:35:39 +08:00
parent a12eacca6b
commit 15e27b7435
3 changed files with 9 additions and 9 deletions
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10
Mercury/mercury_b1/scripts/follow_display.py
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@ -14,8 +14,8 @@ def talker():
rospy.init_node("display", anonymous=True) rospy.init_node("display", anonymous=True)
print("Try connect real Mercury...") print("Try connect real Mercury...")
port1 = rospy.get_param("~port1", "/dev/ttyTHS1") port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
port2 = rospy.get_param("~port2", "/dev/ttyS0") port2 = rospy.get_param("~port2", "/dev/ttyACM0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print("left arm: {}, baud: {}\n".format(port1, baud)) print("left arm: {}, baud: {}\n".format(port1, baud))
print("right arm: {}, baud: {}\n".format(port2, baud)) print("right arm: {}, baud: {}\n".format(port2, baud))
@ -106,11 +106,11 @@ def talker():
right_coords = r.get_coords() right_coords = r.get_coords()
eye_coords = r.get_angle(11) eye_coords = [r.get_angle(11)]
head_coords = r.get_angle(12) head_coords = [r.get_angle(12)]
body_coords = r.get_angle(13) body_coords = [r.get_angle(13)]
# marker # marker
marker_.header.stamp = rospy.Time.now() marker_.header.stamp = rospy.Time.now()

4
Mercury/mercury_b1/scripts/slider_control.py
View file

@ -52,8 +52,8 @@ def listener():
rospy.init_node("control_slider", anonymous=True) rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
port1 = rospy.get_param("~port1", "/dev/ttyTHS1") port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
port2 = rospy.get_param("~port2", "/dev/ttyS0") port2 = rospy.get_param("~port2", "/dev/ttyACM0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print('left arm: {}, {}'.format(port1, baud)) print('left arm: {}, {}'.format(port1, baud))
print('right arm: {}, {}'.format(port2, baud)) print('right arm: {}, {}'.format(port2, baud))

4
Mercury/mercury_b1_moveit/scripts/sync_plan.py
View file

@ -52,8 +52,8 @@ def listener():
rospy.init_node("control_slider", anonymous=True) rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
port1 = rospy.get_param("~port1", "/dev/ttyTHS1") port1 = rospy.get_param("~port1", "/dev/ttyTHS0")
port2 = rospy.get_param("~port2", "/dev/ttyS0") port2 = rospy.get_param("~port2", "/dev/ttyACM0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
print('left arm: {}, {}'.format(port1, baud)) print('left arm: {}, {}'.format(port1, baud))
print('right arm: {}, {}'.format(port2, baud)) print('right arm: {}, {}'.format(port2, baud))