diff --git a/mycobot_280/launch/detect_marker.launch b/mycobot_280/launch/detect_marker.launch index dec163d..e8c6998 100644 --- a/mycobot_280/launch/detect_marker.launch +++ b/mycobot_280/launch/detect_marker.launch @@ -1,4 +1,5 @@ + @@ -10,6 +11,7 @@ + diff --git a/mycobot_280/launch/detect_marker_with_topic.launch b/mycobot_280/launch/detect_marker_with_topic.launch index 3acedc6..04a0d5e 100644 --- a/mycobot_280/launch/detect_marker_with_topic.launch +++ b/mycobot_280/launch/detect_marker_with_topic.launch @@ -1,7 +1,8 @@ + - + @@ -10,17 +11,17 @@ - + - + - + diff --git a/mycobot_280/launch/mycobot_follow.launch b/mycobot_280/launch/mycobot_follow.launch index 8a21bae..e656fc0 100644 --- a/mycobot_280/launch/mycobot_follow.launch +++ b/mycobot_280/launch/mycobot_follow.launch @@ -3,9 +3,10 @@ - + ["joint_states"] + diff --git a/mycobot_280/launch/simple_gui.launch b/mycobot_280/launch/simple_gui.launch index 28845fd..0957433 100644 --- a/mycobot_280/launch/simple_gui.launch +++ b/mycobot_280/launch/simple_gui.launch @@ -1,4 +1,5 @@ + @@ -8,9 +9,9 @@ - + - + diff --git a/mycobot_280/launch/slider_control.launch b/mycobot_280/launch/slider_control.launch index dec3ccf..76c5a1b 100644 --- a/mycobot_280/launch/slider_control.launch +++ b/mycobot_280/launch/slider_control.launch @@ -1,14 +1,14 @@ - + - + @@ -19,6 +19,6 @@ --> - + diff --git a/mycobot_280/launch/teleop_keyboard.launch b/mycobot_280/launch/teleop_keyboard.launch index 0fd0ecf..a5cf77a 100644 --- a/mycobot_280/launch/teleop_keyboard.launch +++ b/mycobot_280/launch/teleop_keyboard.launch @@ -1,4 +1,5 @@ + @@ -8,14 +9,15 @@ - + - + + diff --git a/mycobot_280/launch/test.launch b/mycobot_280/launch/test.launch index a829439..76ddd57 100644 --- a/mycobot_280/launch/test.launch +++ b/mycobot_280/launch/test.launch @@ -11,6 +11,6 @@ - + diff --git a/mycobot_280/scripts/detect_marker.py b/mycobot_280/scripts/detect_marker.py index 04ca483..4283ea1 100755 --- a/mycobot_280/scripts/detect_marker.py +++ b/mycobot_280/scripts/detect_marker.py @@ -27,7 +27,7 @@ class ImageConverter: ) self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() self.camera_matrix = None - # subscriber, listen wether has img come in. + # subscriber, listen wether has img come in. 订阅者，监听是否有img self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) def callback(self, data): @@ -37,7 +37,7 @@ class ImageConverter: pose to transforming. """ try: - # trans `rgb` to `gbr` for opencv. + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") except CvBridgeError as e: print(e) @@ -45,7 +45,7 @@ class ImageConverter: focal_length = size[1] center = [size[1] / 2, size[0] / 2] if self.camera_matrix is None: - # calc the camera matrix, if don't have. + # calc the camera matrix, if don't have.如果没有，则计算相机矩阵 self.camera_matrix = np.array( [ [focal_length, 0, center[0]], @@ -55,18 +55,18 @@ class ImageConverter: dtype=np.float32, ) gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) - # detect aruco marker. + # detect aruco marker.检测 aruco 标记 ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) corners, ids = ret[0], ret[1] - # process marker data. + # process marker data.处理标记数据 if len(corners) > 0: if ids is not None: # print('corners:', corners, 'ids:', ids) - # detect marker pose. + # detect marker pose. 检测marker位姿。 # argument: - # marker corners - # marker size (meter) + # marker corners,标记角 + # marker size (meter),标记尺寸（米） ret = cv.aruco.estimatePoseSingleMarkers( corners, 0.05, self.camera_matrix, self.dist_coeffs ) @@ -75,7 +75,7 @@ class ImageConverter: print("rvec:", rvec, "tvec:", tvec) - # just select first one detected marker. + # just select first one detected marker.只需选择第一个检测到的标记。 for i in range(rvec.shape[0]): cv.aruco.drawDetectedMarkers(cv_image, corners) cv.aruco.drawAxis( @@ -90,14 +90,14 @@ class ImageConverter: xyz = tvec[0, 0, :] xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] - # get quaternion for ros. + # get quaternion for ros. 为ros获取四元数 euler = rvec[0, 0, :] tf_change = tf.transformations.quaternion_from_euler( euler[0], euler[1], euler[2] ) print("tf_change:", tf_change) - # trans pose according [joint1] + # trans pose according [joint1]，根据 [joint1] 变换姿势 self.br.sendTransform( xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" ) diff --git a/mycobot_280/scripts/follow_and_pump.py b/mycobot_280/scripts/follow_and_pump.py index f26b669..d889bbb 100755 --- a/mycobot_280/scripts/follow_and_pump.py +++ b/mycobot_280/scripts/follow_and_pump.py @@ -5,18 +5,19 @@ from visualization_msgs.msg import Marker import time import os -# 与 mycobot 通信的消息类型 +# Type of message communicated with mycobot，与 mycobot 通信的消息类型 from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus rospy.init_node("gipper_subscriber", anonymous=True) +# Control the topic of mycobot, followed by angle, coordinates, gripper # 控制 mycobot 的 topic，依次是角度、坐标、夹爪 angle_pub = rospy.Publisher("mycobot/angles_goal", MycobotSetAngles, queue_size=5) coord_pub = rospy.Publisher("mycobot/coords_goal", MycobotSetCoords, queue_size=5) -# Judging equipment: ttyUSB* is M5；ttyACM* is wio +# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio robot = os.popen("ls /dev/ttyUSB*").readline() if "dev" in robot: @@ -27,27 +28,28 @@ else: pump_pub = rospy.Publisher("mycobot/pump_status", MycobotPumpStatus, queue_size=5) -# 实例化消息对象 +# instantiate the message object，实例化消息对象 angles = MycobotSetAngles() coords = MycobotSetCoords() pump = MycobotPumpStatus() -# 与 mycobot 真实位置的偏差值 +# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值 x_offset = -20 y_offset = 20 z_offset = 110 +# With this variable limit, the fetching behavior is only done once # 通过该变量限制，抓取行为只做一次 flag = False -# 为了后面比较二维码是否移动 +# In order to compare whether the QR code moves later,为了后面比较二维码是否移动 temp_x = temp_y = temp_z = 0.0 temp_time = time.time() def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): - """发布坐标""" + """Post coordinates,发布坐标""" coords.x = x coords.y = y coords.z = z @@ -61,7 +63,7 @@ def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): def pub_angles(a, b, c, d, e, f, sp): - """发布角度""" + """Publishing angle,发布角度""" angles.joint_1 = float(a) angles.joint_2 = float(b) angles.joint_3 = float(c) @@ -73,7 +75,7 @@ def pub_angles(a, b, c, d, e, f, sp): def pub_pump(flag, Pin): - """发布夹爪状态""" + """Publish gripper status,发布夹爪状态""" pump.Status = flag pump.Pin1 = Pin[0] pump.Pin2 = Pin[1] @@ -81,6 +83,7 @@ def pub_pump(flag, Pin): def target_is_moving(x, y, z): + """Determine whether the target moves""" """判断目标是否移动""" count = 0 for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): @@ -94,18 +97,19 @@ def target_is_moving(x, y, z): def grippercallback(data): - """回调函数""" + """callback function,回调函数""" global flag, temp_x, temp_y, temp_z # rospy.loginfo('gripper_subscriber get date :%s', data) if flag: return - # 解析出坐标值 + # Parse out the coordinate value,解析出坐标值 # pump length: 88mm x = float(format(data.pose.position.x * 1000, ".2f")) y = float(format(data.pose.position.y * 1000, ".2f")) z = float(format(data.pose.position.z * 1000, ".2f")) + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 if ( time.time() - temp_time < 30 @@ -120,7 +124,7 @@ def grippercallback(data): temp_x, temp_y, temp_z = x, y, z return - else: # 表示目标处于静止状态，可以尝试抓取 + else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取 print(x, y, z) @@ -178,7 +182,7 @@ def main(): pub_pump(False, Pin) # time.sleep(2.5) - # mark 信息的订阅者 + # mark 信息的订阅者,subscribers to mark information rospy.Subscriber("visualization_marker", Marker, grippercallback, queue_size=1) diff --git a/mycobot_280/scripts/follow_display.py b/mycobot_280/scripts/follow_display.py index 9665dc8..6fad77f 100755 --- a/mycobot_280/scripts/follow_display.py +++ b/mycobot_280/scripts/follow_display.py @@ -79,7 +79,7 @@ def talker(): marker_.scale.y = 0.04 marker_.scale.z = 0.04 - # marker position initial + # marker position initial.标记位置初始 # print(coords) if not coords: coords = [0, 0, 0, 0, 0, 0] diff --git a/mycobot_280/scripts/following_marker.py b/mycobot_280/scripts/following_marker.py index 4afe3f9..797ec1e 100755 --- a/mycobot_280/scripts/following_marker.py +++ b/mycobot_280/scripts/following_marker.py @@ -41,7 +41,7 @@ def talker(): marker_.scale.y = 0.04 marker_.scale.z = 0.04 - # marker position initial + # marker position initial,标记位置初始化 marker_.pose.position.x = trans[0] marker_.pose.position.y = trans[1] marker_.pose.position.z = trans[2] diff --git a/mycobot_280/scripts/listen_real.py b/mycobot_280/scripts/listen_real.py index d022c72..5e4d9bc 100755 --- a/mycobot_280/scripts/listen_real.py +++ b/mycobot_280/scripts/listen_real.py @@ -15,7 +15,7 @@ def talker(): pub = rospy.Publisher("joint_states", JointState, queue_size=10) rate = rospy.Rate(30) # 30hz - # pub joint state + # pub joint state，发布关节状态 joint_state_send = JointState() joint_state_send.header = Header() @@ -30,14 +30,14 @@ def talker(): joint_state_send.velocity = [0] joint_state_send.effort = [] - # waiting util server `get_joint_angles` enable. + # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用 rospy.loginfo("wait service") rospy.wait_for_service("get_joint_angles") func = rospy.ServiceProxy("get_joint_angles", GetAngles) rospy.loginfo("start loop ...") while not rospy.is_shutdown(): - # get real angles from server. + # get real angles from server.从服务器获得真实的角度。 res = func() if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: continue @@ -51,7 +51,7 @@ def talker(): ] rospy.loginfo("res: {}".format(radians_list)) - # publish angles. + # publish angles.发布角度 joint_state_send.header.stamp = rospy.Time.now() joint_state_send.position = radians_list pub.publish(joint_state_send) diff --git a/mycobot_280/scripts/listen_real_of_topic.py b/mycobot_280/scripts/listen_real_of_topic.py index 169567a..ea3df92 100755 --- a/mycobot_280/scripts/listen_real_of_topic.py +++ b/mycobot_280/scripts/listen_real_of_topic.py @@ -13,9 +13,9 @@ class Listener(object): rospy.loginfo("start ...") rospy.init_node("real_listener_1", anonymous=True) - # init publisher. + # init publisher.初始化发布者 self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) - # init subscriber. + # init subscriber.初始化订阅者 self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback) rospy.spin() @@ -25,7 +25,7 @@ class Listener(object): Args: data (MycobotAngles): callback argument. """ - # ini publisher object. + # ini publisher object. 初始化发布者对象 joint_state_send = JointState() joint_state_send.header = Header() @@ -41,7 +41,7 @@ class Listener(object): joint_state_send.effort = [] joint_state_send.header.stamp = rospy.Time.now() - # process callback data. + # process callback data. 处理回调数据。 radians_list = [ data.joint_1 * (math.pi / 180), data.joint_2 * (math.pi / 180), diff --git a/mycobot_280/scripts/simple_gui.py b/mycobot_280/scripts/simple_gui.py index f1eccc6..9f4c791 100755 --- a/mycobot_280/scripts/simple_gui.py +++ b/mycobot_280/scripts/simple_gui.py @@ -10,47 +10,48 @@ from rospy import ServiceException class Window: def __init__(self, handle): self.win = handle - self.win.resizable(0, 0) # 固定窗口大小 + self.win.resizable(0, 0) # fixed window size，固定窗口大小 self.model = 0 self.speed = rospy.get_param("~speed", 50) - # 设置默认速度 + # set default speed，设置默认速度 self.speed_d = tk.StringVar() self.speed_d.set(str(self.speed)) # print(self.speed) self.connect_ser() - # 获取机械臂数据 + # Get the data of the robotic arm，获取机械臂数据 self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] self.get_date() - # get screen width and height + # get screen width and height.获取屏幕宽度和高度 self.ws = self.win.winfo_screenwidth() # width of the screen self.hs = self.win.winfo_screenheight() # height of the screen # calculate x and y coordinates for the Tk root window + # 计算 Tk 根窗口的 x 和 y 坐标 x = (self.ws / 2) - 190 y = (self.hs / 2) - 250 self.win.geometry("430x370+{}+{}".format(x, y)) - # 布局 + # layout,布局 self.set_layout() - # 输入部分 + # input section,输入部分 self.need_input() - # 展示部分 + # Show part,展示部分 self.show_init() - # joint 设置按钮 + # Set the joint buttons 设置joint按钮 tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) - # coordination 设置按钮 + # coordination settings button,coordination 设置按钮 tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) - # 夹爪开关按钮 + # Gripper switch button,夹爪开关按钮 tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( row=1, column=0, sticky="w", padx=3, pady=50 ) @@ -91,22 +92,22 @@ class Window: self.frmRT.grid(row=0, column=1, padx=2, pady=3) def need_input(self): - # 输入提示 + # input hint,输入提示 tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) - tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # 第二行 + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) tk.Label(self.frmRT, text=" x ").grid(row=0) - tk.Label(self.frmRT, text=" y ").grid(row=1) # 第二行 + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 tk.Label(self.frmRT, text=" z ").grid(row=2) tk.Label(self.frmRT, text=" rx ").grid(row=3) tk.Label(self.frmRT, text=" ry ").grid(row=4) tk.Label(self.frmRT, text=" rz ").grid(row=5) - # 设置输入框的默认值 + # Set the default value of the input box,设置输入框的默认值 self.j1_default = tk.StringVar() self.j1_default.set(self.res_angles[0]) self.j2_default = tk.StringVar() @@ -133,7 +134,7 @@ class Window: self.rz_default = tk.StringVar() self.rz_default.set(self.record_coords[5]) - # joint 输入框 + # joint input box,joint 输入框 self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) self.J_1.grid(row=0, column=1, pady=3) self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) @@ -147,7 +148,7 @@ class Window: self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) self.J_6.grid(row=5, column=1, pady=3) - # coord 输入框 + # coord input box,coord 输入框 self.x = tk.Entry(self.frmRT, textvariable=self.x_default) self.x.grid(row=0, column=1, pady=3, padx=0) self.y = tk.Entry(self.frmRT, textvariable=self.y_default) @@ -161,11 +162,11 @@ class Window: self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) self.rz.grid(row=5, column=1, pady=3) - # 所有输入框，用于拿输入的数据 + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6] self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] - # 速度输入框 + # speed input box,速度输入框 tk.Label( self.frmLB, text="speed", @@ -174,9 +175,9 @@ class Window: self.get_speed.grid(row=0, column=1) def show_init(self): - # 显示 + # show,显示 tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) - tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # 第二行 + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) @@ -184,7 +185,7 @@ class Window: # get数据 - # ，展示出来 + # show,展示出来 self.cont_1 = tk.StringVar(self.frmLC) self.cont_1.set(str(self.res_angles[0]) + "°") self.cont_2 = tk.StringVar(self.frmLC) @@ -267,9 +268,9 @@ class Window: self.show_j6, ] - # 显示 + # show,显示 tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) - tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行 + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) @@ -347,7 +348,7 @@ class Window: bg="white", ).grid(row=5, column=4, padx=5, pady=5) - # mm 单位展示 + # mm， Unit show，单位展示 self.unit = tk.StringVar() self.unit.set("mm") for i in range(6): @@ -359,6 +360,7 @@ class Window: try: self.switch_gripper(True) except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error # 可能由于该方法没有返回值，服务抛出无法处理的错误 pass @@ -369,6 +371,7 @@ class Window: pass def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm # 获取 coord 输入的数据，发送给机械臂 c_value = [] for i in self.all_c: @@ -387,6 +390,7 @@ class Window: self.show_j_date(c_value[:-2], "coord") def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm # 获取joint输入的数据，发送给机械臂 j_value = [] for i in self.all_j: @@ -405,7 +409,7 @@ class Window: # return j_value,c_value,speed def get_date(self): - # 拿机械臂的数据，用于展示 + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 t = time.time() while time.time() - t < 2: self.res = self.get_coords() @@ -443,7 +447,7 @@ class Window: # def send_input(self,dates): def show_j_date(self, date, way=""): - # 展示数据 + # Show data,展示数据 if way == "coord": for i, j in zip(date, self.coord_all): # print(i) diff --git a/mycobot_280/scripts/slider_control.py b/mycobot_280/scripts/slider_control.py index 6491795..e3cf6a6 100755 --- a/mycobot_280/scripts/slider_control.py +++ b/mycobot_280/scripts/slider_control.py @@ -40,6 +40,7 @@ def listener(): mc = MyCobot(port, baud) # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 print("spin ...") rospy.spin() diff --git a/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/scripts/teleop_keyboard.py index efb4e3d..6bb47af 100755 --- a/mycobot_280/scripts/teleop_keyboard.py +++ b/mycobot_280/scripts/teleop_keyboard.py @@ -10,7 +10,7 @@ import time import roslib - +# Terminal output prompt information. 终端输出提示信息 msg = """\ Mycobot Teleop Keyboard Controller --------------------------- @@ -97,6 +97,7 @@ def teleop_keyboard(): try: print(msg) print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 while 1: try: # print("\r current coords: %s" % record_coords, end="") diff --git a/mycobot_280/src/opencv_camera.cpp b/mycobot_280/src/opencv_camera.cpp index 44b4522..6501814 100644 --- a/mycobot_280/src/opencv_camera.cpp +++ b/mycobot_280/src/opencv_camera.cpp @@ -2,28 +2,29 @@ #include #include #include -#include // for converting the command line parameter to integer +#include // for converting the command line parameter to integer,用于将命令行参数转换为整数 int main(int argc, char **argv) { - // Check if video source has been passed as a parameter + // Check if video source has been passed as a parameter,检查视频源是否已作为参数传递 if (argv[1] == NULL) { ROS_INFO("argv[1]=NULL\n"); return 1; } - ros::init(argc, argv, "image_publisher"); // Initialize node + ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点 ros::NodeHandle nh; image_transport::ImageTransport it(nh); - image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题 ros::Rate loop_rate(200); // refresh Hz. - // Convert the passed as command line parameter index for the video device to an integer + // Convert the passed as command line parameter index for the video device to an integer， + // 将作为命令行参数传递的视频设备索引转换为整数 std::istringstream video_sourceCmd(argv[1]); int video_source; - // Check if it is indeed a number + // Check if it is indeed a number，检查它是否确实是一个数字 if (!(video_sourceCmd >> video_source)) { ROS_INFO("video_sourceCmd is %d\n", video_source); @@ -31,7 +32,7 @@ int main(int argc, char **argv) } cv::VideoCapture cap(video_source); - // Check if video device can be opened with the given index + // Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备 if (!cap.isOpened()) { ROS_INFO("can not opencv video device\n"); @@ -44,7 +45,7 @@ int main(int argc, char **argv) { cap >> frame; // cv::imshow("veiwer", frame); - // Check if grabbed frame is actually full with some content + // Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容 if (!frame.empty()) { msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); diff --git a/mycobot_280_moveit/launch/demo.launch b/mycobot_280_moveit/launch/demo.launch index 6f44a3f..77841f7 100644 --- a/mycobot_280_moveit/launch/demo.launch +++ b/mycobot_280_moveit/launch/demo.launch @@ -1,11 +1,14 @@ + + + + @@ -27,15 +31,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +51,14 @@ + + diff --git a/mycobot_280_moveit/launch/mycobot_moveit.launch b/mycobot_280_moveit/launch/mycobot_moveit.launch index 6f44a3f..c9d76a5 100644 --- a/mycobot_280_moveit/launch/mycobot_moveit.launch +++ b/mycobot_280_moveit/launch/mycobot_moveit.launch @@ -1,11 +1,13 @@ + + - + + @@ -27,15 +30,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +50,14 @@ + + diff --git a/mycobot_280_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_280_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py index f47c0e8..cd4024d 100644 --- a/mycobot_280_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py +++ b/mycobot_280_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -12,40 +12,47 @@ from tf.transformations import euler_from_quaternion, quaternion_from_euler class MoveItPlanningDemo: def __init__(self): - # 初始化move_group的API + # API to initialize move_group,初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) - # 初始化ROS节点 + # Initialize the ROS node,初始化ROS节点 rospy.init_node("moveit_ik_demo") + # Initialize the scene object to monitor changes in the external environment # 初始化场景对象，用来监听外部环境的变化 self.scene = moveit_commander.PlanningSceneInterface() rospy.sleep(1) + # Initialize self.arm group in the robotic arm that needs to be controlled by move group # 初始化需要使用move group控制的机械臂中的self.arm group self.arm = moveit_commander.MoveGroupCommander("arm_group") - # 获取终端link的名称 + # Get the name of the terminal link,获取终端link的名称 self.end_effector_link = self.arm.get_end_effector_link() + # Set the reference coordinate system used for the target position # 设置目标位置所使用的参考坐标系 self.reference_frame = "joint1" self.arm.set_pose_reference_frame(self.reference_frame) - # 当运动规划失败后，允许重新规划 + # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 self.arm.allow_replanning(True) + # Set the allowable error of position (unit: meter) and attitude (unit: radian) # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 self.arm.set_goal_position_tolerance(0.01) self.arm.set_goal_orientation_tolerance(0.05) def moving(self): - # # 控制机械臂先回到初始化位置 + # # Control the robotic arm to return to the initialization position first + # 控制机械臂先回到初始化位置 self.arm.set_named_target("init_pose") self.arm.go() rospy.sleep(2) + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system # 姿态使用四元数描述，基于base_link坐标系 target_pose = PoseStamped() target_pose.header.frame_id = self.reference_frame @@ -58,19 +65,23 @@ class MoveItPlanningDemo: target_pose.pose.orientation.z = 0.0 target_pose.pose.orientation.w = 0.014 + # Set the current state of the robot arm as the initial state of motion # 设置机器臂当前的状态作为运动初始状态 self.arm.set_start_state_to_current_state() + # Set the target pose of the terminal motion of the robotic arm # 设置机械臂终端运动的目标位姿 self.arm.set_pose_target(target_pose, self.end_effector_link) - # 规划运动路径 + # Plan the movement path,规划运动路径 traj = self.arm.plan() + # Control the motion of the robotic arm according to the planned motion path # 按照规划的运动路径控制机械臂运动 self.arm.execute(traj) rospy.sleep(1) + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy self.arm.shift_pose_target(1, 0.12, self.end_effector_link) self.arm.go() @@ -80,6 +91,7 @@ class MoveItPlanningDemo: self.arm.go() rospy.sleep(1) + # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy # 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy # self.arm.shift_pose_target(3, -1.57, end_effector_link) # self.arm.go() @@ -88,10 +100,10 @@ class MoveItPlanningDemo: def run(self): self.scene.remove_world_object("suit") - # 没有障碍物运行一次 + # Run once without obstacles,没有障碍物运行一次 self.moving() - # 添加环境 + # Add environment,添加环境 quat = quaternion_from_euler(3.1415, 0, -1.57) suit_post = PoseStamped() @@ -112,10 +124,10 @@ class MoveItPlanningDemo: self.scene.add_mesh("suit", suit_post, suit_path) rospy.sleep(2) - # 有环境影响后在运行一次 + # Run it again if there is an environmental impact,有环境影响后再运行一次 self.moving() - # 关闭并退出moveit + # close and exit moveit，关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0) diff --git a/mycobot_280_moveit/scripts/sync_plan.py b/mycobot_280_moveit/scripts/sync_plan.py index cf538ce..4021613 100755 --- a/mycobot_280_moveit/scripts/sync_plan.py +++ b/mycobot_280_moveit/scripts/sync_plan.py @@ -32,6 +32,7 @@ def listener(): rospy.Subscriber("joint_states", JointState, callback) # spin() simply keeps python from exiting until this node is stopped + # spin() 只是阻止 python 退出，直到该节点停止 rospy.spin() diff --git a/mycobot_280jn/launch/detect_marker.launch b/mycobot_280jn/launch/detect_marker.launch index ce48524..444638e 100644 --- a/mycobot_280jn/launch/detect_marker.launch +++ b/mycobot_280jn/launch/detect_marker.launch @@ -1,15 +1,17 @@ + - + + diff --git a/mycobot_280jn/launch/detect_marker_with_topic.launch b/mycobot_280jn/launch/detect_marker_with_topic.launch index ffb2ac8..2bba726 100644 --- a/mycobot_280jn/launch/detect_marker_with_topic.launch +++ b/mycobot_280jn/launch/detect_marker_with_topic.launch @@ -1,7 +1,8 @@ + - + @@ -10,17 +11,17 @@ - + - + - + - + diff --git a/mycobot_280jn/launch/mycobot_follow.launch b/mycobot_280jn/launch/mycobot_follow.launch index b6f5ae7..7511e1f 100644 --- a/mycobot_280jn/launch/mycobot_follow.launch +++ b/mycobot_280jn/launch/mycobot_follow.launch @@ -1,11 +1,13 @@ + - + ["joint_states"] + diff --git a/mycobot_280jn/launch/simple_gui.launch b/mycobot_280jn/launch/simple_gui.launch index 5f40704..0a8d47a 100644 --- a/mycobot_280jn/launch/simple_gui.launch +++ b/mycobot_280jn/launch/simple_gui.launch @@ -1,22 +1,24 @@ + - + - + - + + diff --git a/mycobot_280jn/launch/slider_control.launch b/mycobot_280jn/launch/slider_control.launch index 2755dc4..c009e09 100644 --- a/mycobot_280jn/launch/slider_control.launch +++ b/mycobot_280jn/launch/slider_control.launch @@ -1,14 +1,14 @@ - + - + @@ -19,6 +19,6 @@ --> - + diff --git a/mycobot_280jn/launch/teleop_keyboard.launch b/mycobot_280jn/launch/teleop_keyboard.launch index 442227c..6e70fd2 100644 --- a/mycobot_280jn/launch/teleop_keyboard.launch +++ b/mycobot_280jn/launch/teleop_keyboard.launch @@ -1,21 +1,23 @@ + - + - + - + + diff --git a/mycobot_280jn/launch/test.launch b/mycobot_280jn/launch/test.launch index a829439..dbb1f00 100644 --- a/mycobot_280jn/launch/test.launch +++ b/mycobot_280jn/launch/test.launch @@ -1,16 +1,17 @@ + - + - + diff --git a/mycobot_280jn/scripts/detect_marker.py b/mycobot_280jn/scripts/detect_marker.py index 04ca483..4283ea1 100644 --- a/mycobot_280jn/scripts/detect_marker.py +++ b/mycobot_280jn/scripts/detect_marker.py @@ -27,7 +27,7 @@ class ImageConverter: ) self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() self.camera_matrix = None - # subscriber, listen wether has img come in. + # subscriber, listen wether has img come in. 订阅者，监听是否有img self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) def callback(self, data): @@ -37,7 +37,7 @@ class ImageConverter: pose to transforming. """ try: - # trans `rgb` to `gbr` for opencv. + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") except CvBridgeError as e: print(e) @@ -45,7 +45,7 @@ class ImageConverter: focal_length = size[1] center = [size[1] / 2, size[0] / 2] if self.camera_matrix is None: - # calc the camera matrix, if don't have. + # calc the camera matrix, if don't have.如果没有，则计算相机矩阵 self.camera_matrix = np.array( [ [focal_length, 0, center[0]], @@ -55,18 +55,18 @@ class ImageConverter: dtype=np.float32, ) gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) - # detect aruco marker. + # detect aruco marker.检测 aruco 标记 ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) corners, ids = ret[0], ret[1] - # process marker data. + # process marker data.处理标记数据 if len(corners) > 0: if ids is not None: # print('corners:', corners, 'ids:', ids) - # detect marker pose. + # detect marker pose. 检测marker位姿。 # argument: - # marker corners - # marker size (meter) + # marker corners,标记角 + # marker size (meter),标记尺寸（米） ret = cv.aruco.estimatePoseSingleMarkers( corners, 0.05, self.camera_matrix, self.dist_coeffs ) @@ -75,7 +75,7 @@ class ImageConverter: print("rvec:", rvec, "tvec:", tvec) - # just select first one detected marker. + # just select first one detected marker.只需选择第一个检测到的标记。 for i in range(rvec.shape[0]): cv.aruco.drawDetectedMarkers(cv_image, corners) cv.aruco.drawAxis( @@ -90,14 +90,14 @@ class ImageConverter: xyz = tvec[0, 0, :] xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] - # get quaternion for ros. + # get quaternion for ros. 为ros获取四元数 euler = rvec[0, 0, :] tf_change = tf.transformations.quaternion_from_euler( euler[0], euler[1], euler[2] ) print("tf_change:", tf_change) - # trans pose according [joint1] + # trans pose according [joint1]，根据 [joint1] 变换姿势 self.br.sendTransform( xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" ) diff --git a/mycobot_280jn/scripts/follow_and_pump.py b/mycobot_280jn/scripts/follow_and_pump.py index f26b669..3a26319 100644 --- a/mycobot_280jn/scripts/follow_and_pump.py +++ b/mycobot_280jn/scripts/follow_and_pump.py @@ -5,18 +5,19 @@ from visualization_msgs.msg import Marker import time import os -# 与 mycobot 通信的消息类型 +# Type of message communicated with mycobot，与 mycobot 通信的消息类型 from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus rospy.init_node("gipper_subscriber", anonymous=True) +# Control the topic of mycobot, followed by angle, coordinates, gripper # 控制 mycobot 的 topic，依次是角度、坐标、夹爪 angle_pub = rospy.Publisher("mycobot/angles_goal", MycobotSetAngles, queue_size=5) coord_pub = rospy.Publisher("mycobot/coords_goal", MycobotSetCoords, queue_size=5) -# Judging equipment: ttyUSB* is M5；ttyACM* is wio +# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio robot = os.popen("ls /dev/ttyUSB*").readline() if "dev" in robot: @@ -27,27 +28,28 @@ else: pump_pub = rospy.Publisher("mycobot/pump_status", MycobotPumpStatus, queue_size=5) -# 实例化消息对象 +# instantiate the message object，实例化消息对象 angles = MycobotSetAngles() coords = MycobotSetCoords() pump = MycobotPumpStatus() -# 与 mycobot 真实位置的偏差值 +# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值 x_offset = -20 y_offset = 20 z_offset = 110 +# With this variable limit, the fetching behavior is only done once # 通过该变量限制，抓取行为只做一次 flag = False -# 为了后面比较二维码是否移动 +# In order to compare whether the QR code moves later,为了后面比较二维码是否移动 temp_x = temp_y = temp_z = 0.0 temp_time = time.time() def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): - """发布坐标""" + """Post coordinates,发布坐标""" coords.x = x coords.y = y coords.z = z @@ -61,7 +63,7 @@ def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): def pub_angles(a, b, c, d, e, f, sp): - """发布角度""" + """Publishing angle,发布角度""" angles.joint_1 = float(a) angles.joint_2 = float(b) angles.joint_3 = float(c) @@ -73,7 +75,7 @@ def pub_angles(a, b, c, d, e, f, sp): def pub_pump(flag, Pin): - """发布夹爪状态""" + """Publish gripper status,发布夹爪状态""" pump.Status = flag pump.Pin1 = Pin[0] pump.Pin2 = Pin[1] @@ -81,6 +83,7 @@ def pub_pump(flag, Pin): def target_is_moving(x, y, z): + """Determine whether the target moves""" """判断目标是否移动""" count = 0 for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): @@ -94,18 +97,19 @@ def target_is_moving(x, y, z): def grippercallback(data): - """回调函数""" + """callback function,回调函数""" global flag, temp_x, temp_y, temp_z # rospy.loginfo('gripper_subscriber get date :%s', data) if flag: return - # 解析出坐标值 + # Parse out the coordinate value,解析出坐标值 # pump length: 88mm x = float(format(data.pose.position.x * 1000, ".2f")) y = float(format(data.pose.position.y * 1000, ".2f")) z = float(format(data.pose.position.z * 1000, ".2f")) + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 if ( time.time() - temp_time < 30 @@ -120,7 +124,7 @@ def grippercallback(data): temp_x, temp_y, temp_z = x, y, z return - else: # 表示目标处于静止状态，可以尝试抓取 + else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取 print(x, y, z) @@ -178,7 +182,7 @@ def main(): pub_pump(False, Pin) # time.sleep(2.5) - # mark 信息的订阅者 + # subscribers to mark information，mark 信息的订阅者 rospy.Subscriber("visualization_marker", Marker, grippercallback, queue_size=1) diff --git a/mycobot_280jn/scripts/follow_display.py b/mycobot_280jn/scripts/follow_display.py index c973e84..0815622 100644 --- a/mycobot_280jn/scripts/follow_display.py +++ b/mycobot_280jn/scripts/follow_display.py @@ -79,7 +79,7 @@ def talker(): marker_.scale.y = 0.04 marker_.scale.z = 0.04 - # marker position initial + # marker position initial.标记位置初始 # print(coords) if not coords: coords = [0, 0, 0, 0, 0, 0] diff --git a/mycobot_280jn/scripts/following_marker.py b/mycobot_280jn/scripts/following_marker.py index 4afe3f9..797ec1e 100644 --- a/mycobot_280jn/scripts/following_marker.py +++ b/mycobot_280jn/scripts/following_marker.py @@ -41,7 +41,7 @@ def talker(): marker_.scale.y = 0.04 marker_.scale.z = 0.04 - # marker position initial + # marker position initial,标记位置初始化 marker_.pose.position.x = trans[0] marker_.pose.position.y = trans[1] marker_.pose.position.z = trans[2] diff --git a/mycobot_280jn/scripts/listen_real.py b/mycobot_280jn/scripts/listen_real.py index d022c72..5e4d9bc 100644 --- a/mycobot_280jn/scripts/listen_real.py +++ b/mycobot_280jn/scripts/listen_real.py @@ -15,7 +15,7 @@ def talker(): pub = rospy.Publisher("joint_states", JointState, queue_size=10) rate = rospy.Rate(30) # 30hz - # pub joint state + # pub joint state，发布关节状态 joint_state_send = JointState() joint_state_send.header = Header() @@ -30,14 +30,14 @@ def talker(): joint_state_send.velocity = [0] joint_state_send.effort = [] - # waiting util server `get_joint_angles` enable. + # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用 rospy.loginfo("wait service") rospy.wait_for_service("get_joint_angles") func = rospy.ServiceProxy("get_joint_angles", GetAngles) rospy.loginfo("start loop ...") while not rospy.is_shutdown(): - # get real angles from server. + # get real angles from server.从服务器获得真实的角度。 res = func() if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: continue @@ -51,7 +51,7 @@ def talker(): ] rospy.loginfo("res: {}".format(radians_list)) - # publish angles. + # publish angles.发布角度 joint_state_send.header.stamp = rospy.Time.now() joint_state_send.position = radians_list pub.publish(joint_state_send) diff --git a/mycobot_280jn/scripts/listen_real_of_topic.py b/mycobot_280jn/scripts/listen_real_of_topic.py index 169567a..ea3df92 100644 --- a/mycobot_280jn/scripts/listen_real_of_topic.py +++ b/mycobot_280jn/scripts/listen_real_of_topic.py @@ -13,9 +13,9 @@ class Listener(object): rospy.loginfo("start ...") rospy.init_node("real_listener_1", anonymous=True) - # init publisher. + # init publisher.初始化发布者 self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) - # init subscriber. + # init subscriber.初始化订阅者 self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback) rospy.spin() @@ -25,7 +25,7 @@ class Listener(object): Args: data (MycobotAngles): callback argument. """ - # ini publisher object. + # ini publisher object. 初始化发布者对象 joint_state_send = JointState() joint_state_send.header = Header() @@ -41,7 +41,7 @@ class Listener(object): joint_state_send.effort = [] joint_state_send.header.stamp = rospy.Time.now() - # process callback data. + # process callback data. 处理回调数据。 radians_list = [ data.joint_1 * (math.pi / 180), data.joint_2 * (math.pi / 180), diff --git a/mycobot_280jn/scripts/simple_gui.py b/mycobot_280jn/scripts/simple_gui.py index f1eccc6..9f4c791 100644 --- a/mycobot_280jn/scripts/simple_gui.py +++ b/mycobot_280jn/scripts/simple_gui.py @@ -10,47 +10,48 @@ from rospy import ServiceException class Window: def __init__(self, handle): self.win = handle - self.win.resizable(0, 0) # 固定窗口大小 + self.win.resizable(0, 0) # fixed window size，固定窗口大小 self.model = 0 self.speed = rospy.get_param("~speed", 50) - # 设置默认速度 + # set default speed，设置默认速度 self.speed_d = tk.StringVar() self.speed_d.set(str(self.speed)) # print(self.speed) self.connect_ser() - # 获取机械臂数据 + # Get the data of the robotic arm，获取机械臂数据 self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] self.get_date() - # get screen width and height + # get screen width and height.获取屏幕宽度和高度 self.ws = self.win.winfo_screenwidth() # width of the screen self.hs = self.win.winfo_screenheight() # height of the screen # calculate x and y coordinates for the Tk root window + # 计算 Tk 根窗口的 x 和 y 坐标 x = (self.ws / 2) - 190 y = (self.hs / 2) - 250 self.win.geometry("430x370+{}+{}".format(x, y)) - # 布局 + # layout,布局 self.set_layout() - # 输入部分 + # input section,输入部分 self.need_input() - # 展示部分 + # Show part,展示部分 self.show_init() - # joint 设置按钮 + # Set the joint buttons 设置joint按钮 tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) - # coordination 设置按钮 + # coordination settings button,coordination 设置按钮 tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( row=6, column=1, sticky="w", padx=3, pady=2 ) - # 夹爪开关按钮 + # Gripper switch button,夹爪开关按钮 tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( row=1, column=0, sticky="w", padx=3, pady=50 ) @@ -91,22 +92,22 @@ class Window: self.frmRT.grid(row=0, column=1, padx=2, pady=3) def need_input(self): - # 输入提示 + # input hint,输入提示 tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) - tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # 第二行 + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) tk.Label(self.frmRT, text=" x ").grid(row=0) - tk.Label(self.frmRT, text=" y ").grid(row=1) # 第二行 + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 tk.Label(self.frmRT, text=" z ").grid(row=2) tk.Label(self.frmRT, text=" rx ").grid(row=3) tk.Label(self.frmRT, text=" ry ").grid(row=4) tk.Label(self.frmRT, text=" rz ").grid(row=5) - # 设置输入框的默认值 + # Set the default value of the input box,设置输入框的默认值 self.j1_default = tk.StringVar() self.j1_default.set(self.res_angles[0]) self.j2_default = tk.StringVar() @@ -133,7 +134,7 @@ class Window: self.rz_default = tk.StringVar() self.rz_default.set(self.record_coords[5]) - # joint 输入框 + # joint input box,joint 输入框 self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) self.J_1.grid(row=0, column=1, pady=3) self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) @@ -147,7 +148,7 @@ class Window: self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) self.J_6.grid(row=5, column=1, pady=3) - # coord 输入框 + # coord input box,coord 输入框 self.x = tk.Entry(self.frmRT, textvariable=self.x_default) self.x.grid(row=0, column=1, pady=3, padx=0) self.y = tk.Entry(self.frmRT, textvariable=self.y_default) @@ -161,11 +162,11 @@ class Window: self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) self.rz.grid(row=5, column=1, pady=3) - # 所有输入框，用于拿输入的数据 + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6] self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] - # 速度输入框 + # speed input box,速度输入框 tk.Label( self.frmLB, text="speed", @@ -174,9 +175,9 @@ class Window: self.get_speed.grid(row=0, column=1) def show_init(self): - # 显示 + # show,显示 tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) - tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # 第二行 + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) @@ -184,7 +185,7 @@ class Window: # get数据 - # ，展示出来 + # show,展示出来 self.cont_1 = tk.StringVar(self.frmLC) self.cont_1.set(str(self.res_angles[0]) + "°") self.cont_2 = tk.StringVar(self.frmLC) @@ -267,9 +268,9 @@ class Window: self.show_j6, ] - # 显示 + # show,显示 tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) - tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行 + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) @@ -347,7 +348,7 @@ class Window: bg="white", ).grid(row=5, column=4, padx=5, pady=5) - # mm 单位展示 + # mm， Unit show，单位展示 self.unit = tk.StringVar() self.unit.set("mm") for i in range(6): @@ -359,6 +360,7 @@ class Window: try: self.switch_gripper(True) except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error # 可能由于该方法没有返回值，服务抛出无法处理的错误 pass @@ -369,6 +371,7 @@ class Window: pass def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm # 获取 coord 输入的数据，发送给机械臂 c_value = [] for i in self.all_c: @@ -387,6 +390,7 @@ class Window: self.show_j_date(c_value[:-2], "coord") def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm # 获取joint输入的数据，发送给机械臂 j_value = [] for i in self.all_j: @@ -405,7 +409,7 @@ class Window: # return j_value,c_value,speed def get_date(self): - # 拿机械臂的数据，用于展示 + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 t = time.time() while time.time() - t < 2: self.res = self.get_coords() @@ -443,7 +447,7 @@ class Window: # def send_input(self,dates): def show_j_date(self, date, way=""): - # 展示数据 + # Show data,展示数据 if way == "coord": for i, j in zip(date, self.coord_all): # print(i) diff --git a/mycobot_280jn/scripts/slider_control.py b/mycobot_280jn/scripts/slider_control.py index 9e73763..a40abc0 100644 --- a/mycobot_280jn/scripts/slider_control.py +++ b/mycobot_280jn/scripts/slider_control.py @@ -40,6 +40,7 @@ def listener(): mc = MyCobot(port, baud) # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 print("spin ...") rospy.spin() diff --git a/mycobot_280jn/scripts/teleop_keyboard.py b/mycobot_280jn/scripts/teleop_keyboard.py index efb4e3d..6bb47af 100644 --- a/mycobot_280jn/scripts/teleop_keyboard.py +++ b/mycobot_280jn/scripts/teleop_keyboard.py @@ -10,7 +10,7 @@ import time import roslib - +# Terminal output prompt information. 终端输出提示信息 msg = """\ Mycobot Teleop Keyboard Controller --------------------------- @@ -97,6 +97,7 @@ def teleop_keyboard(): try: print(msg) print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 while 1: try: # print("\r current coords: %s" % record_coords, end="") diff --git a/mycobot_280jn/src/opencv_camera.cpp b/mycobot_280jn/src/opencv_camera.cpp index 44b4522..6501814 100644 --- a/mycobot_280jn/src/opencv_camera.cpp +++ b/mycobot_280jn/src/opencv_camera.cpp @@ -2,28 +2,29 @@ #include #include #include -#include // for converting the command line parameter to integer +#include // for converting the command line parameter to integer,用于将命令行参数转换为整数 int main(int argc, char **argv) { - // Check if video source has been passed as a parameter + // Check if video source has been passed as a parameter,检查视频源是否已作为参数传递 if (argv[1] == NULL) { ROS_INFO("argv[1]=NULL\n"); return 1; } - ros::init(argc, argv, "image_publisher"); // Initialize node + ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点 ros::NodeHandle nh; image_transport::ImageTransport it(nh); - image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题 ros::Rate loop_rate(200); // refresh Hz. - // Convert the passed as command line parameter index for the video device to an integer + // Convert the passed as command line parameter index for the video device to an integer， + // 将作为命令行参数传递的视频设备索引转换为整数 std::istringstream video_sourceCmd(argv[1]); int video_source; - // Check if it is indeed a number + // Check if it is indeed a number，检查它是否确实是一个数字 if (!(video_sourceCmd >> video_source)) { ROS_INFO("video_sourceCmd is %d\n", video_source); @@ -31,7 +32,7 @@ int main(int argc, char **argv) } cv::VideoCapture cap(video_source); - // Check if video device can be opened with the given index + // Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备 if (!cap.isOpened()) { ROS_INFO("can not opencv video device\n"); @@ -44,7 +45,7 @@ int main(int argc, char **argv) { cap >> frame; // cv::imshow("veiwer", frame); - // Check if grabbed frame is actually full with some content + // Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容 if (!frame.empty()) { msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); diff --git a/mycobot_280jn_moveit/launch/demo.launch b/mycobot_280jn_moveit/launch/demo.launch index 225d2b9..c4c7843 100644 --- a/mycobot_280jn_moveit/launch/demo.launch +++ b/mycobot_280jn_moveit/launch/demo.launch @@ -1,11 +1,14 @@ + + + + @@ -27,15 +31,18 @@ + [move_group/fake_controller_joint_states] + + @@ -43,13 +50,15 @@ - + - --> - + + + diff --git a/mycobot_280jn_moveit/launch/mycobot_moveit.launch b/mycobot_280jn_moveit/launch/mycobot_moveit.launch index 8d4aadd..dd341dc 100644 --- a/mycobot_280jn_moveit/launch/mycobot_moveit.launch +++ b/mycobot_280jn_moveit/launch/mycobot_moveit.launch @@ -1,11 +1,13 @@ + + - + + @@ -27,15 +30,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +50,14 @@ + + diff --git a/mycobot_280jn_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_280jn_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py index f47c0e8..cd4024d 100644 --- a/mycobot_280jn_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py +++ b/mycobot_280jn_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -12,40 +12,47 @@ from tf.transformations import euler_from_quaternion, quaternion_from_euler class MoveItPlanningDemo: def __init__(self): - # 初始化move_group的API + # API to initialize move_group,初始化move_group的API moveit_commander.roscpp_initialize(sys.argv) - # 初始化ROS节点 + # Initialize the ROS node,初始化ROS节点 rospy.init_node("moveit_ik_demo") + # Initialize the scene object to monitor changes in the external environment # 初始化场景对象，用来监听外部环境的变化 self.scene = moveit_commander.PlanningSceneInterface() rospy.sleep(1) + # Initialize self.arm group in the robotic arm that needs to be controlled by move group # 初始化需要使用move group控制的机械臂中的self.arm group self.arm = moveit_commander.MoveGroupCommander("arm_group") - # 获取终端link的名称 + # Get the name of the terminal link,获取终端link的名称 self.end_effector_link = self.arm.get_end_effector_link() + # Set the reference coordinate system used for the target position # 设置目标位置所使用的参考坐标系 self.reference_frame = "joint1" self.arm.set_pose_reference_frame(self.reference_frame) - # 当运动规划失败后，允许重新规划 + # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 self.arm.allow_replanning(True) + # Set the allowable error of position (unit: meter) and attitude (unit: radian) # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 self.arm.set_goal_position_tolerance(0.01) self.arm.set_goal_orientation_tolerance(0.05) def moving(self): - # # 控制机械臂先回到初始化位置 + # # Control the robotic arm to return to the initialization position first + # 控制机械臂先回到初始化位置 self.arm.set_named_target("init_pose") self.arm.go() rospy.sleep(2) + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system # 姿态使用四元数描述，基于base_link坐标系 target_pose = PoseStamped() target_pose.header.frame_id = self.reference_frame @@ -58,19 +65,23 @@ class MoveItPlanningDemo: target_pose.pose.orientation.z = 0.0 target_pose.pose.orientation.w = 0.014 + # Set the current state of the robot arm as the initial state of motion # 设置机器臂当前的状态作为运动初始状态 self.arm.set_start_state_to_current_state() + # Set the target pose of the terminal motion of the robotic arm # 设置机械臂终端运动的目标位姿 self.arm.set_pose_target(target_pose, self.end_effector_link) - # 规划运动路径 + # Plan the movement path,规划运动路径 traj = self.arm.plan() + # Control the motion of the robotic arm according to the planned motion path # 按照规划的运动路径控制机械臂运动 self.arm.execute(traj) rospy.sleep(1) + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy self.arm.shift_pose_target(1, 0.12, self.end_effector_link) self.arm.go() @@ -80,6 +91,7 @@ class MoveItPlanningDemo: self.arm.go() rospy.sleep(1) + # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy # 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy # self.arm.shift_pose_target(3, -1.57, end_effector_link) # self.arm.go() @@ -88,10 +100,10 @@ class MoveItPlanningDemo: def run(self): self.scene.remove_world_object("suit") - # 没有障碍物运行一次 + # Run once without obstacles,没有障碍物运行一次 self.moving() - # 添加环境 + # Add environment,添加环境 quat = quaternion_from_euler(3.1415, 0, -1.57) suit_post = PoseStamped() @@ -112,10 +124,10 @@ class MoveItPlanningDemo: self.scene.add_mesh("suit", suit_post, suit_path) rospy.sleep(2) - # 有环境影响后在运行一次 + # Run it again if there is an environmental impact,有环境影响后再运行一次 self.moving() - # 关闭并退出moveit + # close and exit moveit，关闭并退出moveit moveit_commander.roscpp_shutdown() moveit_commander.os._exit(0) diff --git a/mycobot_280jn_moveit/scripts/sync_plan.py b/mycobot_280jn_moveit/scripts/sync_plan.py index bc321e1..8cdd97e 100644 --- a/mycobot_280jn_moveit/scripts/sync_plan.py +++ b/mycobot_280jn_moveit/scripts/sync_plan.py @@ -32,6 +32,7 @@ def listener(): rospy.Subscriber("joint_states", JointState, callback) # spin() simply keeps python from exiting until this node is stopped + # spin() 只是阻止 python 退出，直到该节点停止 rospy.spin() diff --git a/mycobot_320/launch/mycobot_320_slider.launch b/mycobot_320/launch/mycobot_320_slider.launch index 204511d..d2cf5c8 100644 --- a/mycobot_320/launch/mycobot_320_slider.launch +++ b/mycobot_320/launch/mycobot_320_slider.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_320_moveit/launch/demo.launch b/mycobot_320_moveit/launch/demo.launch index 350dd2b..23a254c 100644 --- a/mycobot_320_moveit/launch/demo.launch +++ b/mycobot_320_moveit/launch/demo.launch @@ -1,11 +1,14 @@ + + + + @@ -27,15 +31,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +51,14 @@ + + diff --git a/mycobot_320_moveit/launch/mycobot320_moveit.launch b/mycobot_320_moveit/launch/mycobot320_moveit.launch index 350dd2b..f24485e 100644 --- a/mycobot_320_moveit/launch/mycobot320_moveit.launch +++ b/mycobot_320_moveit/launch/mycobot320_moveit.launch @@ -1,11 +1,13 @@ + + - + + @@ -27,15 +30,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +50,14 @@ + + diff --git a/mycobot_600/launch/mycobot_600_slider.launch b/mycobot_600/launch/mycobot_600_slider.launch index 5f0acbb..f7b6782 100644 --- a/mycobot_600/launch/mycobot_600_slider.launch +++ b/mycobot_600/launch/mycobot_600_slider.launch @@ -1,8 +1,10 @@ + - + + diff --git a/mycobot_600/scripts/slider_600.py b/mycobot_600/scripts/slider_600.py index 24e624d..11b05d3 100755 --- a/mycobot_600/scripts/slider_600.py +++ b/mycobot_600/scripts/slider_600.py @@ -15,7 +15,7 @@ mutex = Lock() class ElephantRobot(object): def __init__(self, host, port): - # setup connection + # setup connection，建立连接 self.BUFFSIZE = 2048 self.ADDR = (host, port) self.tcp_client = socket(AF_INET, SOCK_STREAM) @@ -119,6 +119,7 @@ class ElephantRobot(object): return self.string_to_int(res) def program_run(self, start_line): + """run program，运行程序""" command = "program_run(" + str(start_line) + ")\n" res = self.send_command(command) return self.string_to_int(res) @@ -129,6 +130,7 @@ class ElephantRobot(object): return res def write_coords(self, coords, speed): + """set coords,设置坐标""" command = "set_coords(" for item in coords: command += str(item) + "," @@ -142,6 +144,7 @@ class ElephantRobot(object): self.write_coords(coords, speed) def write_angles(self, angles, speed): + """set angles,设置角度""" command = "set_angles(" for item in angles: command += str(item) + "," @@ -243,6 +246,7 @@ old_list = [] def callback(data): + """callback function,回调函数""" global old_list # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) print ("position", data.position) @@ -271,7 +275,7 @@ def listener(): ip = rospy.get_param("~ip", "192.168.10.169") print (ip) mc = ElephantRobot(ip, 5001) - # START CLIENT + # START CLIENT,启动客户端 res = mc.start_client() if res != "": print res @@ -285,6 +289,7 @@ def listener(): rospy.Subscriber("joint_states", JointState, callback) # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 print ("sping ...") rospy.spin() diff --git a/mycobot_communication/launch/communication_jsnn.launch b/mycobot_communication/launch/communication_jsnn.launch index 5668bab..b49eba0 100644 --- a/mycobot_communication/launch/communication_jsnn.launch +++ b/mycobot_communication/launch/communication_jsnn.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_communication/launch/communication_seeed.launch b/mycobot_communication/launch/communication_seeed.launch index db0ad01..a0c66d3 100644 --- a/mycobot_communication/launch/communication_seeed.launch +++ b/mycobot_communication/launch/communication_seeed.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_communication/launch/communication_service.launch b/mycobot_communication/launch/communication_service.launch index d659612..0117bd7 100644 --- a/mycobot_communication/launch/communication_service.launch +++ b/mycobot_communication/launch/communication_service.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_communication/launch/communication_topic.launch b/mycobot_communication/launch/communication_topic.launch index 4a85124..633f1bd 100644 --- a/mycobot_communication/launch/communication_topic.launch +++ b/mycobot_communication/launch/communication_topic.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_communication/launch/communication_topic_pi.launch b/mycobot_communication/launch/communication_topic_pi.launch index c436d28..b51bf6f 100644 --- a/mycobot_communication/launch/communication_topic_pi.launch +++ b/mycobot_communication/launch/communication_topic_pi.launch @@ -1,8 +1,9 @@ + - + diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index c0e118a..27ebdc2 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -30,6 +30,7 @@ def create_services(): def set_angles(req): + """set angles，设置角度""" angles = [ req.joint_1, req.joint_2, @@ -47,6 +48,7 @@ def set_angles(req): def get_angles(req): + """get angles,获取角度""" if mc: angles = mc.get_angles() return GetAnglesResponse(*angles) @@ -77,6 +79,8 @@ def get_coords(req): def switch_status(req): + """Gripper switch status""" + """夹爪开关状态""" if mc: if req.Status: mc.set_gripper_state(0, 80) diff --git a/mycobot_communication/scripts/mycobot_topics.py b/mycobot_communication/scripts/mycobot_topics.py index 65e3813..c731c69 100755 --- a/mycobot_communication/scripts/mycobot_topics.py +++ b/mycobot_communication/scripts/mycobot_topics.py @@ -104,6 +104,8 @@ class MycobotTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) ma = MycobotAngles() @@ -122,6 +124,8 @@ class MycobotTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) ma = MycobotCoords() @@ -141,6 +145,8 @@ class MycobotTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -171,6 +177,8 @@ class MycobotTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80) diff --git a/mycobot_communication/scripts/mycobot_topics_jsnn.py b/mycobot_communication/scripts/mycobot_topics_jsnn.py index 2dbacf7..36c35c8 100644 --- a/mycobot_communication/scripts/mycobot_topics_jsnn.py +++ b/mycobot_communication/scripts/mycobot_topics_jsnn.py @@ -53,8 +53,9 @@ class Watcher: try: os.wait() except KeyboardInterrupt: - # I put the capital B in KeyBoardInterrupt so I can - # tell when the Watcher gets the SIGINT + # I put the capital B in KeyBoardInterrupt so I can# + # 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了 + # tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT print("KeyBoardInterrupt") self.kill() sys.exit() @@ -72,7 +73,7 @@ class MycobotTopics(object): rospy.init_node("mycobot_topics") rospy.loginfo("start ...") - # problem + # Select connected device，选择连接设备 port = rospy.get_param("~port", "/dev/ttyUSB0") baud = rospy.get_param("~baud", 115200) rospy.loginfo("%s,%s" % (port, baud)) @@ -112,6 +113,8 @@ class MycobotTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) ma = MycobotAngles() while not rospy.is_shutdown(): @@ -129,6 +132,8 @@ class MycobotTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) ma = MycobotCoords() @@ -147,6 +152,8 @@ class MycobotTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -165,6 +172,8 @@ class MycobotTopics(object): rospy.spin() def sub_set_coords(self): + """Subscribe to coordinates""" + """订阅坐标""" def callback(data): angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] sp = int(data.speed) @@ -177,6 +186,8 @@ class MycobotTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80) diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py index 038dd25..98f6530 100644 --- a/mycobot_communication/scripts/mycobot_topics_pi.py +++ b/mycobot_communication/scripts/mycobot_topics_pi.py @@ -40,7 +40,8 @@ class Watcher: def __init__(self): """Creates a child thread, which returns. The parent thread waits for a KeyboardInterrupt and then kills - the child thread. + the child thread.创建一个返回的子线程。 父线程等待 KeyboardInterrupt + 然后杀死子线程。 """ self.child = os.fork() if self.child == 0: @@ -108,6 +109,8 @@ class MycobotTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) ma = MycobotAngles() while not rospy.is_shutdown(): @@ -125,6 +128,8 @@ class MycobotTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) ma = MycobotCoords() @@ -143,6 +148,8 @@ class MycobotTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -173,6 +180,8 @@ class MycobotTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80) diff --git a/mycobot_communication/scripts/mycobot_topics_seeed.py b/mycobot_communication/scripts/mycobot_topics_seeed.py index ee2d990..f1d5065 100644 --- a/mycobot_communication/scripts/mycobot_topics_seeed.py +++ b/mycobot_communication/scripts/mycobot_topics_seeed.py @@ -106,6 +106,8 @@ class MycobotTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) ma = MycobotAngles() while not rospy.is_shutdown(): @@ -123,6 +125,8 @@ class MycobotTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) ma = MycobotCoords() @@ -141,6 +145,8 @@ class MycobotTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -171,6 +177,8 @@ class MycobotTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80) diff --git a/mypalletizer_communication/scripts/mypal_services.py b/mypalletizer_communication/scripts/mypal_services.py index 5cc0a5f..4ea468d 100755 --- a/mypalletizer_communication/scripts/mypal_services.py +++ b/mypalletizer_communication/scripts/mypal_services.py @@ -79,6 +79,7 @@ def get_coords(req): def switch_status(req): + """Gripper switch,夹爪开关""" if mc: if req.Status: mc.set_gripper_state(0, 80) diff --git a/mypalletizer_communication/scripts/mypal_topics.py b/mypalletizer_communication/scripts/mypal_topics.py index 2ada1af..0ec7dcd 100755 --- a/mypalletizer_communication/scripts/mypal_topics.py +++ b/mypalletizer_communication/scripts/mypal_topics.py @@ -103,6 +103,8 @@ class MypalTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("Mypal/angles_real", MypalAngles, queue_size=5) ma = MypalAngles() @@ -121,6 +123,8 @@ class MypalTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("Mypal/coords_real", MypalCoords, queue_size=5) ma = MypalCoords() @@ -140,6 +144,8 @@ class MypalTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -172,6 +178,8 @@ class MypalTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80) diff --git a/mypalletizer_communication/scripts/mypal_topics_seeed.py b/mypalletizer_communication/scripts/mypal_topics_seeed.py index 2edfd28..c4754cf 100644 --- a/mypalletizer_communication/scripts/mypal_topics_seeed.py +++ b/mypalletizer_communication/scripts/mypal_topics_seeed.py @@ -104,6 +104,8 @@ class MypalTopics(object): sp.join() def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" pub = rospy.Publisher("Mypal/angles_real", MypalAngles, queue_size=5) ma = MypalAngles() while not rospy.is_shutdown(): @@ -121,6 +123,8 @@ class MypalTopics(object): time.sleep(0.25) def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" pub = rospy.Publisher("Mypal/coords_real", MypalCoords, queue_size=5) ma = MypalCoords() @@ -139,6 +143,8 @@ class MypalTopics(object): time.sleep(0.25) def sub_set_angles(self): + """subscription angles""" + """订阅角度""" def callback(data): angles = [ data.joint_1, @@ -169,6 +175,8 @@ class MypalTopics(object): rospy.spin() def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" def callback(data): if data.Status: self.mc.set_gripper_state(0, 80)