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Merge branch 'noetic' of github.com:elephantrobotics/mycobot_ros into Mira

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This commit is contained in:
weijian 2022-09-14 14:50:54 +08:00
commit 1f63b51057
575 changed files with 125860 additions and 3412 deletions
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36
Mybuddy/mybuddy/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(mybuddy)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
)
## Declare a catkin package
catkin_package(
CATKIN_DEPENDS std_msgs actionlib
)
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
catkin_install_python(PROGRAMS
scripts/follow_display.py
scripts/slider_control.py
scripts/teleop_keyboard.py
scripts/listen_real.py
scripts/listen_real_of_topic.py
scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

25
Mybuddy/mybuddy/LICENSE Normal file
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BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

269
Mybuddy/mybuddy/config/dual_arm.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Axes1
- /TF1
- /TF1/Frames1
- /TF1/Tree1
Splitter Ratio: 0.5
Tree Height: 607
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Axes
Enabled: true
Length: 0.100000001
Name: Axes
Radius: 0.00999999978
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base:
Value: true
link1:
Value: true
link1_L:
Value: true
link1_R:
Value: true
link2_L:
Value: true
link2_R:
Value: true
link3_L:
Value: true
link3_R:
Value: true
link4_L:
Value: true
link4_R:
Value: true
link5_L:
Value: true
link5_R:
Value: true
link6_L:
Value: true
link6_R:
Value: true
Marker Scale: 0.2
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
link1:
link1_L:
link2_L:
link3_L:
link4_L:
link5_L:
link6_L:
{}
link1_R:
link2_R:
link3_R:
link4_R:
link5_R:
link6_R:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.71708035
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.219795272
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.67218757
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006450000003efc0100000002fb0000000800540069006d00650100000000000006450000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004d5000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1605
X: 290
Y: 26

203
Mybuddy/mybuddy/config/mycobot.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: joint1
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.20289087
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.440398335
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.430389732
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

216
Mybuddy/mybuddy/config/mycobot_with_marker.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
- /Marker1
- /Marker1/Namespaces1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
basic_shapes:
Value: true
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
basic_shapes:
{}
Update Interval: 0
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /visualization_marker
Name: Marker
Namespaces:
basic_cube: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: joint1
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.11990476
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.375398338
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.235389769
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

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Mybuddy/mybuddy/launch/mybuddy_follow.launch Normal file
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<launch>
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

22
Mybuddy/mybuddy/launch/simple_gui.launch Normal file
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<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
</launch>

24
Mybuddy/mybuddy/launch/slider_control.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="control_slider.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

21
Mybuddy/mybuddy/launch/teleop_keyboard.launch Normal file
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<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
</launch>

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Mybuddy/mybuddy/launch/test.launch Normal file
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<launch>
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- <node name="rviz" pkg="rviz" type="rviz" /> -->
</launch>

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Mybuddy/mybuddy/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>mybuddy</name>
<version>0.3.0</version>
<description>The mybuddy package</description>
<author email="lijun.zhang@elephantrobotics.com">ZhangLijun</author>
<maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
<license>BSD</license>
<url type="website">https://github.com/elephantrobotics/mycobot_ros</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>mycobot_description</build_depend>
<build_depend>mybuddy_communication</build_depend>
<build_export_depend>mybuddy_communication</build_export_depend>
<build_export_depend>mycobot_description</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>joy</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>python-tk</exec_depend>
<exec_depend>mycobot_description</exec_depend>
<exec_depend>mybuddy_communication</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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Mybuddy/mybuddy/scripts/follow_display.py Executable file
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#!/usr/bin/env python3
import time
import os
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.mybuddy import MyBuddy
import math
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mybuddy...")
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud))
try:
mb = MyBuddy(port, baud)
except Exception as e:
print(e)
print(
"""\
\rTry connect mybuddy failed!
\rPlease check wether connected with mybuddy.
\rPlease chckt wether the port or baud is right.
"""
)
exit(1)
mb.release_all_servos()
time.sleep(0.5)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=20)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=20)
rate = rospy.Rate(30) # hz
# pub joint state
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_L",
"joint2_L",
"joint3_L",
"joint4_L",
"joint5_L",
"joint6_L",
"joint1_R",
"joint2_R",
"joint3_R",
"joint4_R",
"joint5_R",
"joint6_R",
"base_link1",
]
joint_state_send.velocity = [0.0]
joint_state_send.effort = []
marker_ = Marker()
marker_.header.frame_id = "/base_link1"
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
left_radians = mb.get_radians(1)
right_radians = mb.get_radians(2)
wangles = mb.get_angles(3)[0]*(math.pi/180)
waist_radian =[]
waist_radian.append(wangles)
print('left:',left_radians,'right:',right_radians,'w:',waist_radian)
# =======all_radians=======
all_radians = left_radians + right_radians + waist_radian
data_list = []
for index, value in enumerate(all_radians):
data_list.append(value)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
print("all_radians: %s" % data_list)
pub.publish(joint_state_send)
# =======left_coords=======
left_coords = mb.get_coords(1)
# =======right_coords=======
right_coords = mb.get_coords(2)
waist_coords = mb.get_angles(3)
# marker
marker_.header.stamp = rospy.Time.now()
marker_.type = marker_.SPHERE
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 = left_coords[1] / 1000 * -1
marker_.pose.position.y = left_coords[0] / 1000
marker_.pose.position.z = left_coords[2] / 1000
time.sleep(0.02)
marker_.pose.position.x = right_coords[1] / 1000 * -1
marker_.pose.position.y = right_coords[0] / 1000
marker_.pose.position.z = right_coords[2] / 1000
time.sleep(0.02)
marker_.pose.position.x = waist_coords[0] / 1000 * -1
marker_.color.a = 1.0
marker_.color.r = 0.0
marker_.color.g = 1.0
marker_.color.b = 0.0
pub_marker.publish(marker_)
rate.sleep()
print("\n")
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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#!/usr/bin/env python3
# license removed for brevity
import time
import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mycobot_communication.srv import GetAngles
def talker():
rospy.loginfo("start ...")
rospy.init_node("real_listener", anonymous=True)
pub = rospy.Publisher("joint_states", JointState, queue_size=15)
rate = rospy.Rate(30) # 30hz
# pub joint state
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
# "joint2_to_joint1",
# "joint3_to_joint2",
# "joint4_to_joint3",
# "joint5_to_joint4",
# "joint6_to_joint5",
# "joint6output_to_joint6",
"base_link1",
"joint1_L",
"joint2_L",
"joint3_L",
"joint4_L",
"joint5_L",
"joint6_L",
"joint1_R",
"joint2_R",
"joint3_R",
"joint4_R",
"joint5_R",
"joint6_R",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
# waiting util server `get_joint_angles` enable.
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.
res = func()
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
continue
radians_list = [
res.joint_1 * (math.pi / 180),
res.joint_2 * (math.pi / 180),
res.joint_3 * (math.pi / 180),
res.joint_4 * (math.pi / 180),
res.joint_5 * (math.pi / 180),
res.joint_6 * (math.pi / 180),
]
rospy.loginfo("res: {}".format(radians_list))
# publish angles.
joint_state_send.header.stamp = rospy.Time.now()
joint_state_send.position = radians_list
pub.publish(joint_state_send)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy/scripts/listen_real_of_topic.py Normal file
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#!/usr/bin/env python2
import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mycobot_communication.msg import MycobotAngles
class Listener(object):
def __init__(self):
super(Listener, self).__init__()
rospy.loginfo("start ...")
rospy.init_node("real_listener_1", anonymous=True)
# init publisher.
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
# init subscriber.
self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback)
rospy.spin()
def callback(self, data):
"""`mycobot/angles_real` subscriber callback method.
Args:
data (MycobotAngles): callback argument.
"""
# ini publisher object.
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
"joint6output_to_joint6",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
joint_state_send.header.stamp = rospy.Time.now()
# process callback data.
radians_list = [
data.joint_1 * (math.pi / 180),
data.joint_2 * (math.pi / 180),
data.joint_3 * (math.pi / 180),
data.joint_4 * (math.pi / 180),
data.joint_5 * (math.pi / 180),
data.joint_6 * (math.pi / 180),
]
rospy.loginfo("res: {}".format(radians_list))
joint_state_send.position = radians_list
self.pub.publish(joint_state_send)
if __name__ == "__main__":
try:
Listener()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy/scripts/simple_gui.py Normal file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import tkinter as tk
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import time
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.model = 0
self.speed = rospy.get_param("~speed", 50)
# 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
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
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
x = (self.ws / 2) - 190
y = (self.hs / 2) - 250
self.win.geometry("430x370+{}+{}".format(x, y))
# 布局
self.set_layout()
# 输入部分
self.need_input()
# 展示部分
self.show_init()
# joint 设置按钮
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
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
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
)
tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
row=1, column=1, sticky="w", padx=3, pady=2
)
def connect_ser(self):
rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
rospy.wait_for_service("get_joint_angles")
rospy.wait_for_service("set_joint_angles")
rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords")
rospy.wait_for_service("switch_gripper_status")
try:
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
self.switch_gripper = rospy.ServiceProxy(
"switch_gripper_status", GripperStatus
)
except:
print("start error ...")
exit(1)
print("Connect service success.")
def set_layout(self):
self.frmLT = tk.Frame(width=200, height=200)
self.frmLC = tk.Frame(width=200, height=200)
self.frmLB = tk.Frame(width=200, height=200)
self.frmRT = tk.Frame(width=200, height=200)
self.frmLT.grid(row=0, column=0, padx=1, pady=3)
self.frmLC.grid(row=1, column=0, padx=1, pady=3)
self.frmLB.grid(row=1, column=1, padx=2, pady=3)
self.frmRT.grid(row=0, column=1, padx=2, pady=3)
def need_input(self):
# 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 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=" 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
self.j1_default = tk.StringVar()
self.j1_default.set(self.res_angles[0])
self.j2_default = tk.StringVar()
self.j2_default.set(self.res_angles[1])
self.j3_default = tk.StringVar()
self.j3_default.set(self.res_angles[2])
self.j4_default = tk.StringVar()
self.j4_default.set(self.res_angles[3])
self.j5_default = tk.StringVar()
self.j5_default.set(self.res_angles[4])
self.j6_default = tk.StringVar()
self.j6_default.set(self.res_angles[5])
self.x_default = tk.StringVar()
self.x_default.set(self.record_coords[0])
self.y_default = tk.StringVar()
self.y_default.set(self.record_coords[1])
self.z_default = tk.StringVar()
self.z_default.set(self.record_coords[2])
self.rx_default = tk.StringVar()
self.rx_default.set(self.record_coords[3])
self.ry_default = tk.StringVar()
self.ry_default.set(self.record_coords[4])
self.rz_default = tk.StringVar()
self.rz_default.set(self.record_coords[5])
# 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)
self.J_2.grid(row=1, column=1, pady=3)
self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
self.J_3.grid(row=2, column=1, pady=3)
self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
self.J_4.grid(row=3, column=1, pady=3)
self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default)
self.J_5.grid(row=4, column=1, pady=3)
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
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)
self.y.grid(row=1, column=1, pady=3)
self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
self.z.grid(row=2, column=1, pady=3)
self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
self.rx.grid(row=3, column=1, pady=3)
self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default)
self.ry.grid(row=4, column=1, pady=3)
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
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
tk.Label(
self.frmLB,
text="speed",
).grid(row=0, column=0)
self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
self.get_speed.grid(row=0, column=1)
def show_init(self):
# 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 3 ").grid(row=2)
tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
# get数据
# ，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)
self.cont_2.set(str(self.res_angles[1]) + "°")
self.cont_3 = tk.StringVar(self.frmLC)
self.cont_3.set(str(self.res_angles[2]) + "°")
self.cont_4 = tk.StringVar(self.frmLC)
self.cont_4.set(str(self.res_angles[3]) + "°")
self.cont_5 = tk.StringVar(self.frmLC)
self.cont_5.set(str(self.res_angles[4]) + "°")
self.cont_6 = tk.StringVar(self.frmLC)
self.cont_6.set(str(self.res_angles[5]) + "°")
self.cont_all = [
self.cont_1,
self.cont_2,
self.cont_3,
self.cont_4,
self.cont_5,
self.cont_6,
self.speed,
self.model,
]
self.show_j1 = tk.Label(
self.frmLC,
textvariable=self.cont_1,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=1, padx=0, pady=5)
self.show_j2 = tk.Label(
self.frmLC,
textvariable=self.cont_2,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=1, padx=0, pady=5)
self.show_j3 = tk.Label(
self.frmLC,
textvariable=self.cont_3,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=1, padx=0, pady=5)
self.show_j4 = tk.Label(
self.frmLC,
textvariable=self.cont_4,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=1, padx=0, pady=5)
self.show_j5 = tk.Label(
self.frmLC,
textvariable=self.cont_5,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=1, padx=0, pady=5)
self.show_j6 = tk.Label(
self.frmLC,
textvariable=self.cont_6,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=5, column=1, padx=5, pady=5)
self.all_jo = [
self.show_j1,
self.show_j2,
self.show_j3,
self.show_j4,
self.show_j5,
self.show_j6,
]
# 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=" 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)
tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3)
self.coord_x = tk.StringVar()
self.coord_x.set(str(self.record_coords[0]))
self.coord_y = tk.StringVar()
self.coord_y.set(str(self.record_coords[1]))
self.coord_z = tk.StringVar()
self.coord_z.set(str(self.record_coords[2]))
self.coord_rx = tk.StringVar()
self.coord_rx.set(str(self.record_coords[3]))
self.coord_ry = tk.StringVar()
self.coord_ry.set(str(self.record_coords[4]))
self.coord_rz = tk.StringVar()
self.coord_rz.set(str(self.record_coords[5]))
self.coord_all = [
self.coord_x,
self.coord_y,
self.coord_z,
self.coord_rx,
self.coord_ry,
self.coord_rz,
self.speed,
self.model,
]
self.show_x = tk.Label(
self.frmLC,
textvariable=self.coord_x,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=4, padx=5, pady=5)
self.show_y = tk.Label(
self.frmLC,
textvariable=self.coord_y,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=4, padx=5, pady=5)
self.show_z = tk.Label(
self.frmLC,
textvariable=self.coord_z,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=4, padx=5, pady=5)
self.show_rx = tk.Label(
self.frmLC,
textvariable=self.coord_rx,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=4, padx=5, pady=5)
self.show_ry = tk.Label(
self.frmLC,
textvariable=self.coord_ry,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=4, padx=5, pady=5)
self.show_rz = tk.Label(
self.frmLC,
textvariable=self.coord_rz,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=5, column=4, padx=5, pady=5)
# mm 单位展示
self.unit = tk.StringVar()
self.unit.set("mm")
for i in range(6):
tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
row=i, column=5
)
def gripper_open(self):
try:
self.switch_gripper(True)
except ServiceException:
# 可能由于该方法没有返回值，服务抛出无法处理的错误
pass
def gripper_close(self):
try:
self.switch_gripper(False)
except ServiceException:
pass
def get_coord_input(self):
# 获取 coord 输入的数据，发送给机械臂
c_value = []
for i in self.all_c:
# print(type(i.get()))
c_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
c_value.append(self.speed)
c_value.append(self.model)
# print(c_value)
try:
self.set_coords(*c_value)
except ServiceException:
pass
self.show_j_date(c_value[:-2], "coord")
def get_joint_input(self):
# 获取joint输入的数据，发送给机械臂
j_value = []
for i in self.all_j:
# print(type(i.get()))
j_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
j_value.append(self.speed)
try:
self.set_angles(*j_value)
except ServiceException:
pass
self.show_j_date(j_value[:-1])
# return j_value,c_value,speed
def get_date(self):
# 拿机械臂的数据，用于展示
t = time.time()
while time.time() - t < 2:
self.res = self.get_coords()
if self.res.x > 1:
break
time.sleep(0.1)
t = time.time()
while time.time() - t < 2:
self.angles = self.get_angles()
if self.angles.joint_1 > 1:
break
time.sleep(0.1)
# print(self.angles.joint_1)
self.record_coords = [
round(self.res.x, 2),
round(self.res.y, 2),
round(self.res.z, 2),
round(self.res.rx, 2),
round(self.res.ry, 2),
round(self.res.rz, 2),
self.speed,
self.model,
]
self.res_angles = [
round(self.angles.joint_1, 2),
round(self.angles.joint_2, 2),
round(self.angles.joint_3, 2),
round(self.angles.joint_4, 2),
round(self.angles.joint_5, 2),
round(self.angles.joint_6, 2),
]
# print('coord:',self.record_coords)
# print('angles:',self.res_angles)
# def send_input(self,dates):
def show_j_date(self, date, way=""):
# 展示数据
if way == "coord":
for i, j in zip(date, self.coord_all):
# print(i)
j.set(str(i))
else:
for i, j in zip(date, self.cont_all):
j.set(str(i) + "°")
def run(self):
while True:
try:
self.win.update()
time.sleep(0.001)
except tk.TclError as e:
if "application has been destroyed" in str(e):
break
else:
raise
def main():
window = tk.Tk()
window.title("mycobot ros GUI")
Window(window).run()
if __name__ == "__main__":
main()

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Mybuddy/mybuddy/scripts/slider_control.py Executable file
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#!/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/ttyACM0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mybuddy import MyBuddy
import time
import os
import math
mb = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
# print(data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(value)
print(data_list)
data_list1 = data_list[:6]
data_list2 = data_list[6:-1]
data_list3 = data_list[-1:]
print("left_arm: %s" % data_list1)
print("right_arm: %s" % data_list2)
print("waist: %s" % data_list3)
mb.send_radians(1,data_list1, 50)
time.sleep(0.02)
mb.send_radians(2,data_list2, 50)
time.sleep(0.02)
# print(data_list3[0]* (180 / math.pi))
print("\n")
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
# mb.send_radians(3,data_list3, 50)
time.sleep(0.02)
def listener():
global mb
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mb = MyBuddy(port, baud)
# spin() simply keeps python from exiting until this node is stopped
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

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Mybuddy/mybuddy/scripts/teleop_keyboard.py Normal file
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#!/usr/bin/env python3
from __future__ import print_function
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import sys
import select
import termios
import tty
import time
import roslib
msg = """\
Mycobot Teleop Keyboard Controller
---------------------------
Movimg options(control coordinations [x,y,z,rx,ry,rz]):
w(x+)
a(y-) s(x-) d(y+)
z(z-) x(z+)
u(rx+) i(ry+) o(rz+)
j(rx-) k(ry-) l(rz-)
Gripper control:
g - open
h - close
Other:
1 - Go to init pose
2 - Go to home pose
3 - Resave home pose
q - Quit
"""
def vels(speed, turn):
return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn)
class Raw(object):
def __init__(self, stream):
self.stream = stream
self.fd = self.stream.fileno()
def __enter__(self):
self.original_stty = termios.tcgetattr(self.stream)
tty.setcbreak(self.stream)
def __exit__(self, type, value, traceback):
termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
def teleop_keyboard():
rospy.init_node("teleop_keyboard")
model = 0
speed = rospy.get_param("~speed", 50)
change_percent = rospy.get_param("~change_percent", 5)
change_angle = 180 * change_percent / 100
change_len = 250 * change_percent / 100
rospy.wait_for_service("get_joint_angles")
rospy.wait_for_service("set_joint_angles")
rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords")
rospy.wait_for_service("switch_gripper_status")
print("service ready.")
try:
get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
switch_gripper = rospy.ServiceProxy("switch_gripper_status", GripperStatus)
except:
print("start error ...")
exit(1)
init_pose = [0, 0, 0, 0, 0, 0, speed]
home_pose = [0, 0, 0, 0, 0, 0, speed]
# rsp = set_angles(*init_pose)
while True:
res = get_coords()
if res.x > 1:
break
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
print(record_coords)
try:
print(msg)
print(vels(speed, change_percent))
while 1:
try:
# print("\r current coords: %s" % record_coords, end="")
with Raw(sys.stdin):
key = sys.stdin.read(1)
if key == "q":
break
elif key in ["w", "W"]:
record_coords[0] += change_len
set_coords(*record_coords)
elif key in ["s", "S"]:
record_coords[0] -= change_len
set_coords(*record_coords)
elif key in ["a", "A"]:
record_coords[1] -= change_len
set_coords(*record_coords)
elif key in ["d", "D"]:
record_coords[1] += change_len
set_coords(*record_coords)
elif key in ["z", "Z"]:
record_coords[2] -= change_len
set_coords(*record_coords)
elif key in ["x", "X"]:
record_coords[2] += change_len
set_coords(*record_coords)
elif key in ["u", "U"]:
record_coords[3] += change_angle
set_coords(*record_coords)
elif key in ["j", "J"]:
record_coords[3] -= change_angle
set_coords(*record_coords)
elif key in ["i", "I"]:
record_coords[4] += change_angle
set_coords(*record_coords)
elif key in ["k", "K"]:
record_coords[4] -= change_angle
set_coords(*record_coords)
elif key in ["o", "O"]:
record_coords[5] += change_angle
set_coords(*record_coords)
elif key in ["l", "L"]:
record_coords[5] -= change_angle
set_coords(*record_coords)
elif key in ["g", "G"]:
switch_gripper(True)
elif key in ["h", "H"]:
switch_gripper(False)
elif key == "1":
rsp = set_angles(*init_pose)
elif key in "2":
rsp = set_angles(*home_pose)
elif key in "3":
rep = get_angles()
home_pose[0] = rep.joint_1
home_pose[1] = rep.joint_2
home_pose[2] = rep.joint_3
home_pose[3] = rep.joint_4
home_pose[5] = rep.joint_5
else:
continue
except Exception as e:
# print(e)
continue
except Exception as e:
print(e)
if __name__ == "__main__":
try:
teleop_keyboard()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy/scripts/test_control.py Normal file
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from time import time
from pymycobot.mybuddy import MyBuddy
import rospy
import time
import os
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mb = MyBuddy(port, baud)
# mb.set_free_mode(2)
# mb.power_on()
# mb.release_all_servos()
# mb.set_servo_calibration(3,1)
# i = 1
# while i < 7:
# mb.release_servo(2,i)
# i += 1
# time.sleep(1)
'''
------------get info--------------
'''
# print(mb.get_radians(1))
# print(mb.get_encoders(3))
# print(mb.get_encoder(1,1))
# print(mb.get_angles(1))
# print(mb.get_coords(1))
# print(mb.get_coords(2))
# print("\n")
'''
------------send info--------------
'''
# mb.send_radians(2,[-0.136, -0.462, -0.62, 0.813, 0.218, -0.071],30)
# mb.send_angles(2,[6.32, -94.39, 13.62, -15.38, -94.21, 62.84],30,1)
# time.sleep(2)
print(mb.get_angles(3))
# mb.send_angles(1,[0,0,0,0,0,0],30,0)
# mb.send_angle(1,3,30,30)
# mb.set_encoder(3,1,2048,1)
time.sleep(1)

29
Mybuddy/mybuddy/src/camera_display.cpp Normal file
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#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
void imageCallback(const sensor_msgs::ImageConstPtr &msg)
{
try
{
cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
cv::waitKey(30);
}
catch (cv_bridge::Exception &e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "image_listener");
ros::NodeHandle nh;
cv::namedWindow("view");
cv::startWindowThread();
image_transport::ImageTransport it(nh);
image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
ros::spin();
cv::destroyWindow("view");
}

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Mybuddy/mybuddy/src/opencv_camera.cpp Normal file
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#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sstream> // for converting the command line parameter to integer
int main(int argc, char **argv)
{
// Check if video source has been passed as a parameter
if (argv[1] == NULL)
{
ROS_INFO("argv[1]=NULL\n");
return 1;
}
ros::init(argc, argv, "image_publisher"); // Initialize node
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic
ros::Rate loop_rate(200); // refresh Hz.
// Convert the passed as command line parameter index for the video device to an integer
std::istringstream video_sourceCmd(argv[1]);
int video_source;
// Check if it is indeed a number
if (!(video_sourceCmd >> video_source))
{
ROS_INFO("video_sourceCmd is %d\n", video_source);
return 1;
}
cv::VideoCapture cap(video_source);
// Check if video device can be opened with the given index
if (!cap.isOpened())
{
ROS_INFO("can not opencv video device\n");
return 1;
}
cv::Mat frame;
sensor_msgs::ImagePtr msg;
while (nh.ok())
{
cap >> frame;
// cv::imshow("veiwer", frame);
// Check if grabbed frame is actually full with some content
if (!frame.empty())
{
msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
pub.publish(msg);
//cv::Wait(1);
}
ros::spinOnce();
loop_rate.sleep();
// if(cv::waitKey(2) >= 0)
// break;
}
}

218
Mybuddy/mybuddy_communication/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(mybuddy_communication)
add_compile_options(-std=c++11)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
genmsg
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(FILES
MybuddyAngles.msg
MybuddyCoords.msg
MybuddySetAngles.msg
MybuddySetCoords.msg
MybuddyGripperStatus.msg
MybuddyPumpStatus.msg
)
## Generate services in the 'srv' folder
add_service_files(FILES
GetAngles.srv
SetAngles.srv
GetCoords.srv
SetCoords.srv
GripperStatus.srv
PumpStatus.srv
)
## Generate added messages and services
generate_messages(DEPENDENCIES std_msgs)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
## Declare a catkin package
catkin_package(
CATKIN_DEPENDS message_runtime std_msgs
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/Mybuddy_commuication.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/Mybuddy_commuication_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/mybuddy_services.py
scripts/mybuddy_topics.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_Mybuddy_commuication.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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Mybuddy/mybuddy_communication/LICENSE Normal file
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BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<!-- Open communication service -->
<node name="mybuddy_services" pkg="mybuddy_communication" type="mybuddy_topics_seeed.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

10
Mybuddy/mybuddy_communication/launch/communication_service.launch Normal file
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<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<!-- Open communication service -->
<node name="mybuddy_services" pkg="mybuddy_communication" type="mybuddy_services.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

12
Mybuddy/mybuddy_communication/launch/communication_topic.launch Normal file
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<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<!-- Open communication service -->
<!-- <node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics.py" output="screen"> -->
<node name="mybuddy_services" pkg="mybuddy_communication" type="mybuddy_topics.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

19
Mybuddy/mybuddy_communication/msg/MybuddyAngles.msg Normal file
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# float32 joint_1
# float32 joint_2
# float32 joint_3
# float32 joint_4
# float32 joint_5
# float32 joint_6
float32 joint_0
float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6
float32 joint_7
float32 joint_8
float32 joint_9
float32 joint_10
float32 joint_11
float32 joint_12

6
Mybuddy/mybuddy_communication/msg/MybuddyCoords.msg Normal file
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float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz

1
Mybuddy/mybuddy_communication/msg/MybuddyGripperStatus.msg Normal file
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bool Status

3
Mybuddy/mybuddy_communication/msg/MybuddyPumpStatus.msg Normal file
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bool Status
int8 Pin1
int8 Pin2

21
Mybuddy/mybuddy_communication/msg/MybuddySetAngles.msg Normal file
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# float32 joint_1
# float32 joint_2
# float32 joint_3
# float32 joint_4
# float32 joint_5
# float32 joint_6
float32 joint_0
float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6
float32 joint_7
float32 joint_8
float32 joint_9
float32 joint_10
float32 joint_11
float32 joint_12
int8 speed

9
Mybuddy/mybuddy_communication/msg/MybuddySetCoords.msg Normal file
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float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz
int8 speed
int8 model

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<?xml version="1.0"?>
<package format="2">
<name>mybuddy_communication</name>
<version>0.1.0</version>
<description>The mybuddy_commuication package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/mycobot_commuication</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>mycobot_description</build_depend>
<!-- <build_depend>mypalletizer_communication</build_depend> -->
<!-- <build_export_depend>mypalletizer_communication</build_export_depend> -->
<build_export_depend>mycobot_description</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>joy</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>python-tk</exec_depend>
<exec_depend>mycobot_description</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- <exec_depend>mypalletizer_communication</exec_depend> -->
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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Mybuddy/mybuddy_communication/scripts/mybuddy_services.py Executable file
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#!/usr/bin/env python2
import time
import rospy
from mybuddy_communication.srv import *
from pymycobot.mybuddy import MyBuddy
mb = None
def create_handle():
global mb
rospy.init_node("mypal_services")
rospy.loginfo("start ...")
port = rospy.get_param("~port")
baud = rospy.get_param("~baud")
rospy.loginfo("%s,%s" % (port, baud))
mb = MyBuddy(port, baud)
def create_services():
rospy.Service("set_joint_angles", SetAngles, set_angles)
rospy.Service("get_joint_angles", GetAngles, get_angles)
rospy.Service("set_joint_coords", SetCoords, set_coords)
rospy.Service("get_joint_coords", GetCoords, get_coords)
rospy.Service("switch_gripper_status", GripperStatus, switch_status)
rospy.Service("switch_pump_status", PumpStatus, toggle_pump)
rospy.loginfo("ready")
rospy.spin()
def set_angles(req):
angles = [
# req.joint_1,
# req.joint_2,
# req.joint_3,
# req.joint_4,
# req.joint_5,
# req.joint_6,
req.joint_0,
req.joint_1,
req.joint_2,
req.joint_3,
req.joint_4,
req.joint_5,
req.joint_6,
req.joint_7,
req.joint_8,
req.joint_9,
req.joint_10,
req.joint_11,
req.joint_12,
]
sp = req.speed
if mb:
mb.send_angles(angles, sp)
return SetAnglesResponse(True)
def get_angles(req):
if mb:
angles = mb.get_angles()
return GetAnglesResponse(*angles)
def set_coords(req):
coords = [
req.x,
req.y,
req.z,
req.rx,
req.ry,
req.rz,
]
sp = req.speed
mod = req.model
if mb:
mb.send_coords(coords, sp, mod)
return SetCoordsResponse(True)
def get_coords(req):
if mb:
coords = mb.get_coords()
return GetCoordsResponse(*coords)
def switch_status(req):
"""Gripper switch,夹爪开关"""
if mb:
if req.Status:
mb.set_gripper_state(0, 80)
else:
mb.set_gripper_state(1, 80)
return GripperStatusResponse(True)
def toggle_pump(req):
if mb:
if req.Status:
mb.set_basic_output(req.Pin1, 0)
mb.set_basic_output(req.Pin2, 0)
else:
mb.set_basic_output(req.Pin1, 1)
mb.set_basic_output(req.Pin2, 1)
return PumpStatusResponse(True)
robot_msg = """
Mypalletizer Status
--------------------------------
Joint Limit:
joint 1: -160 ~ +160
joint 2: -0.87 ~ +100.01
joint 3: -17.13 ~ +60
joint 4: simple show
joint 5: -170 ~ +170
joint 6:...
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 mb:
cn = mb.is_controller_connected()
if cn == 1:
connect_status = True
time.sleep(0.1)
si = mb.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__":
# print(MyCobot.__dict__)
create_handle()
output_robot_message()
create_services()

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Mybuddy/mybuddy_communication/scripts/mybuddy_topics.py Executable file
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#!/usr/bin/env python2
import time
import os
import sys
import signal
import threading
import rospy
from pymycobot.mybuddy import MyBuddy
from mybuddy_communication import(
MybuddyAngles,
MybuddyCoords,
MybuddySetAngles,
MybuddySetCoords,
MybuddyGripperStatus,
MybuddyPumpStatus,
)
class Watcher:
"""this class solves two problems with multithreaded
programs in Python, (1) a signal might be delivered
to any thread (which is just a malfeature) and (2) if
the thread that gets the signal is waiting, the signal
is ignored (which is a bug).
The watcher is a concurrent process (not thread) that
waits for a signal and the process that contains the
threads. See Appendix A of The Little Book of Semaphores.
http://greenteapress.com/semaphores/
I have only tested this on Linux. I would expect it to
work on the Macintosh and not work on Windows.
"""
def __init__(self):
"""Creates a child thread, which returns. The parent
thread waits for a KeyboardInterrupt and then kills
the child thread.
"""
self.child = os.fork()
if self.child == 0:
return
else:
self.watch()
def watch(self):
try:
os.wait()
except KeyboardInterrupt:
# I put the capital B in KeyBoardInterrupt so I can
# tell when the Watcher gets the SIGINT
print("KeyBoardInterrupt")
self.kill()
sys.exit()
def kill(self):
try:
os.kill(self.child, signal.SIGKILL)
except OSError:
pass
class MybuddyTopics(object):
def __init__(self):
super(MybuddyTopics, self).__init__()
rospy.init_node("Mybuddy_topics")
rospy.loginfo("start ...")
# port = rospy.get_param("~port", "/dev/ttyACM0")
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mb = MyBuddy(port, baud)
self.lock = threading.Lock()
def start(self):
pa = threading.Thread(target=self.pub_real_angles)
pb = threading.Thread(target=self.pub_real_coords)
sa = threading.Thread(target=self.sub_set_angles)
sb = threading.Thread(target=self.sub_set_coords)
sg = threading.Thread(target=self.sub_gripper_status)
sp = threading.Thread(target=self.sub_pump_status)
pa.setDaemon(True)
pa.start()
pb.setDaemon(True)
pb.start()
sa.setDaemon(True)
sa.start()
sb.setDaemon(True)
sb.start()
sg.setDaemon(True)
sg.start()
sp.setDaemon(True)
sp.start()
pa.join()
pb.join()
sa.join()
sb.join()
sg.join()
sp.join()
def pub_real_angles(self):
"""Publish real angle"""
"""发布真实角度"""
pub = rospy.Publisher("Mybuddy/angles_real",
MybuddyAngles, queue_size=15)
ma = MybuddyAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mb.get_angles()
self.lock.release()
if angles:
ma.joint_0 = angles[0]
ma.joint_1 = angles[1]
ma.joint_2 = angles[2]
ma.joint_3 = angles[3]
ma.joint_4 = angles[4]
ma.joint_5 = angles[5]
ma.joint_6 = angles[6]
ma.joint_7 = angles[7]
ma.joint_8 = angles[8]
ma.joint_9 = angles[9]
ma.joint_10 = angles[10]
ma.joint_11 = angles[11]
ma.joint_12 = angles[12]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("Mybuddy/coords_real",
MybuddyCoords, queue_size=15)
ma = MybuddyCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mb.get_coords()
self.lock.release()
if coords:
ma.x = coords[0]
ma.y = coords[1]
ma.z = coords[2]
ma.rx = coords[3]
ma.ry = coords[4]
ma.rz = coords[5]
pub.publish(ma)
time.sleep(0.25)
def sub_set_angles(self):
"""subscription angles"""
"""订阅角度"""
def callback(data):
angles = [
data.joint_0,
data.joint_1,
data.joint_2,
data.joint_3,
data.joint_4,
data.joint_5,
data.joint_6,
data.joint_7,
data.joint_8,
data.joint_9,
data.joint_10,
data.joint_11,
data.joint_12,
]
sp = int(data.speed)
self.mb.send_angles(angles, sp)
sub = rospy.Subscriber(
"Mybuddy/angles_goal", MybuddySetAngles, callback=callback
)
rospy.spin()
def sub_set_coords(self):
def callback(data):
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
# angles = [data.x, data.y, data.z, data.rx]
sp = int(data.speed)
model = int(data.model)
self.mb.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"Mybuddy/coords_goal", MybuddySetCoords, callback=callback
)
rospy.spin()
def sub_gripper_status(self):
"""Subscribe to Gripper Status"""
"""订阅夹爪状态"""
def callback(data):
if data.Status:
self.mb.set_gripper_state(0, 80)
else:
self.mb.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"Mybuddy/gripper_status", MybuddyGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mb.set_basic_output(data.Pin1, 0)
self.mb.set_basic_output(data.Pin2, 0)
else:
self.mb.set_basic_output(data.Pin1, 1)
self.mb.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"Mybuddy/pump_status", MybuddyPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mb_topics = MybuddyTopics()
mb_topics.start()
# while True:
# mb_topics.pub_real_coords()
# mb_topics.sub_set_angles()
pass

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#!/usr/bin/env python2
import time
import os
import sys
import signal
import threading
import rospy
from mypalletizer_communication import (
MybuddyAngles,
MybuddyCoords,
MybuddySetAngles,
MybuddySetCoords,
MybuddyGripperStatus,
MybuddyPumpStatus,
)
from pymycobot.mypalletizer import MyPalletizer
class Watcher:
"""this class solves two problems with multithreaded
programs in Python, (1) a signal might be delivered
to any thread (which is just a malfeature) and (2) if
the thread that gets the signal is waiting, the signal
is ignored (which is a bug).
The watcher is a concurrent process (not thread) that
waits for a signal and the process that contains the
threads. See Appendix A of The Little Book of Semaphores.
http://greenteapress.com/semaphores/
I have only tested this on Linux. I would expect it to
work on the Macintosh and not work on Windows.
"""
def __init__(self):
"""Creates a child thread, which returns. The parent
thread waits for a KeyboardInterrupt and then kills
the child thread.
"""
self.child = os.fork()
if self.child == 0:
return
else:
self.watch()
def watch(self):
try:
os.wait()
except KeyboardInterrupt:
# I put the capital B in KeyBoardInterrupt so I can
# tell when the Watcher gets the SIGINT
print("KeyBoardInterrupt")
self.kill()
sys.exit()
def kill(self):
try:
os.kill(self.child, signal.SIGKILL)
except OSError:
pass
class MybuddyTopics(object):
def __init__(self):
super(MybuddyTopics, self).__init__()
rospy.init_node("Mybuddy_topics")
rospy.loginfo("start ...")
# port = rospy.get_param("~port", "/dev/ttyUSB0")
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mb = MyPalletizer(port,baud)
self.lock = threading.Lock()
def start(self):
pa = threading.Thread(target=self.pub_real_angles)
pb = threading.Thread(target=self.pub_real_coords)
sa = threading.Thread(target=self.sub_set_angles)
sb = threading.Thread(target=self.sub_set_coords)
sg = threading.Thread(target=self.sub_gripper_status)
sp = threading.Thread(target=self.sub_pump_status)
pa.setDaemon(True)
pa.start()
pb.setDaemon(True)
pb.start()
sa.setDaemon(True)
sa.start()
sb.setDaemon(True)
sb.start()
sg.setDaemon(True)
sg.start()
sp.setDaemon(True)
sp.start()
pa.join()
pb.join()
sa.join()
sb.join()
sg.join()
sp.join()
def pub_real_angles(self):
"""Publish real angle"""
"""发布真实角度"""
pub = rospy.Publisher("Mybuddy/angles_real", MybuddyAngles, queue_size=15)
ma = MybuddyAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mb.get_angles()
self.lock.release()
if angles:
# ma.joint_1 = angles[0]
# ma.joint_2 = angles[1]
# ma.joint_3 = angles[2]
# ma.joint_4 = angles[3]
# ma.joint_5 = angles[4]
# ma.joint_6 = angles[5]
ma.joint_0 = angles[0]
ma.joint_1 = angles[1]
ma.joint_2 = angles[2]
ma.joint_3 = angles[3]
ma.joint_4 = angles[4]
ma.joint_5 = angles[5]
ma.joint_6 = angles[6]
ma.joint_7 = angles[7]
ma.joint_8 = angles[8]
ma.joint_9 = angles[9]
ma.joint_10 = angles[10]
ma.joint_11 = angles[11]
ma.joint_12 = angles[12]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("Mybuddy/coords_real", MybuddyCoords, queue_size=15)
ma = MybuddyCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mb.get_coords()
self.lock.release()
if coords:
ma.x = coords[0]
ma.y = coords[1]
ma.z = coords[2]
ma.rx = coords[3]
ma.ry = coords[4]
ma.rz = coords[5]
pub.publish(ma)
time.sleep(0.25)
def sub_set_angles(self):
"""subscription angles"""
"""订阅角度"""
def callback(data):
angles = [
# data.joint_1,
# data.joint_2,
# data.joint_3,
# data.joint_4,
# data.joint_5,
# data.joint_6,
data.joint_0,
data.joint_1,
data.joint_2,
data.joint_3,
data.joint_4,
data.joint_5,
data.joint_6,
data.joint_7,
data.joint_8,
data.joint_9,
data.joint_10,
data.joint_11,
data.joint_12,
]
sp = int(data.speed)
self.mb.send_angles(angles, sp)
sub = rospy.Subscriber(
"Mybuddy/angles_goal", MybuddySetAngles, callback=callback
)
rospy.spin()
def sub_set_coords(self):
def callback(data):
angles = [data.x, data.y, data.z, data.rx]
sp = int(data.speed)
model = int(data.model)
self.mb.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"Mybuddy/coords_goal", MybuddySetCoords, callback=callback
)
rospy.spin()
def sub_gripper_status(self):
"""Subscribe to Gripper Status"""
"""订阅夹爪状态"""
def callback(data):
if data.Status:
self.mb.set_gripper_state(0, 80)
else:
self.mb.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"Mybuddy/gripper_status", MybuddyGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mb.set_basic_output(data.Pin1, 0)
self.mb.set_basic_output(data.Pin2, 0)
else:
self.mb.set_basic_output(data.Pin1, 1)
self.mb.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"Mybuddy/pump_status", MybuddyPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mb_topics = MybuddyTopics()
mb_topics.start()
# while True:
# mb_topics.pub_real_coords()
# mb_topics.sub_set_angles()
pass

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---
# float32 joint_1
# float32 joint_2
# float32 joint_3
# float32 joint_4
# float32 joint_5
# float32 joint_6
float32 joint_0
float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6
float32 joint_7
float32 joint_8
float32 joint_9
float32 joint_10
float32 joint_11
float32 joint_12

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Mybuddy/mybuddy_communication/srv/GetCoords.srv Normal file
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---
float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz

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bool Status
---
bool Flag

7
Mybuddy/mybuddy_communication/srv/PumpStatus.srv Normal file
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bool Status
int8 Pin1
int8 Pin2
---
bool Flag

26
Mybuddy/mybuddy_communication/srv/SetAngles.srv Normal file
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# float32 joint_1
# float32 joint_2
# float32 joint_3
# float32 joint_4
# float32 joint_5
# float32 joint_6
float32 joint_0
float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6
float32 joint_7
float32 joint_8
float32 joint_9
float32 joint_10
float32 joint_11
float32 joint_12
int8 speed
---
bool Flag

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float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz
int8 speed
int8 model
---
bool Flag

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moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mybuddy/mybuddy.urdf
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: wangweijian
author_email: weijian.wang@elephatrobotics.com
generated_timestamp: 1661409645

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cmake_minimum_required(VERSION 3.1.3)
project(mybuddy_moveit)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

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planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5

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controller_list:
- name: fake_right_arm_controller
type: $(arg fake_execution_type)
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: fake_left_arm_controller
type: $(arg fake_execution_type)
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- name: fake_waist_controller
type: $(arg fake_execution_type)
joints:
- base_link1
initial: # Define initial robot poses per group
- group: right_arm
pose: init_right
- group: left_arm
pose: init_left
- group: waist
pose: init_waist

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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="firefighter">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="right_arm">
<chain base_link="base" tip_link="link6_R"/>
</group>
<group name="left_arm">
<chain base_link="base" tip_link="link6_L"/>
</group>
<group name="waist">
<chain base_link="base" tip_link="link1"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_right" group="right_arm">
<joint name="base_link1" value="0"/>
<joint name="joint1_R" value="0"/>
<joint name="joint2_R" value="0"/>
<joint name="joint3_R" value="0"/>
<joint name="joint4_R" value="0"/>
<joint name="joint5_R" value="0"/>
<joint name="joint6_R" value="0"/>
</group_state>
<group_state name="init_left" group="left_arm">
<joint name="base_link1" value="0"/>
<joint name="joint1_L" value="0"/>
<joint name="joint2_L" value="0"/>
<joint name="joint3_L" value="0"/>
<joint name="joint4_L" value="0"/>
<joint name="joint5_L" value="0"/>
<joint name="joint6_L" value="0"/>
</group_state>
<group_state name="init_waist" group="waist">
<joint name="base_link1" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_left" type="fixed" parent_frame="world" child_link="base"/>
<virtual_joint name="virtual_right" type="fixed" parent_frame="world" child_link="base"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link1_L" reason="Never"/>
<disable_collisions link1="base" link2="link1_R" reason="Never"/>
<disable_collisions link1="base" link2="link2_L" reason="Never"/>
<disable_collisions link1="base" link2="link2_R" reason="Never"/>
<disable_collisions link1="base" link2="link4_L" reason="Default"/>
<disable_collisions link1="base" link2="link4_R" reason="Default"/>
<disable_collisions link1="link1" link2="link1_L" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link1_R" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link2_L" reason="Never"/>
<disable_collisions link1="link1" link2="link2_R" reason="Never"/>
<disable_collisions link1="link1" link2="link3_L" reason="Never"/>
<disable_collisions link1="link1" link2="link3_R" reason="Never"/>
<disable_collisions link1="link1" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1" link2="link4_R" reason="Never"/>
<disable_collisions link1="link1" link2="link5_L" reason="Never"/>
<disable_collisions link1="link1" link2="link5_R" reason="Never"/>
<disable_collisions link1="link1" link2="link6_L" reason="Never"/>
<disable_collisions link1="link1" link2="link6_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link1_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent"/>
<disable_collisions link1="link1_L" link2="link2_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link1_R" link2="link2_L" reason="Never"/>
<disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent"/>
<disable_collisions link1="link1_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1_R" link2="link4_R" reason="Never"/>
<disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent"/>
<disable_collisions link1="link2_L" link2="link4_L" reason="Never"/>
<disable_collisions link1="link2_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent"/>
<disable_collisions link1="link2_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link2_R" link2="link4_R" reason="Never"/>
<disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent"/>
<disable_collisions link1="link3_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link3_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent"/>
<disable_collisions link1="link4_L" link2="link4_R" reason="Default"/>
<disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent"/>
<disable_collisions link1="link4_L" link2="link5_R" reason="Never"/>
<disable_collisions link1="link4_L" link2="link6_L" reason="Never"/>
<disable_collisions link1="link4_L" link2="link6_R" reason="Never"/>
<disable_collisions link1="link4_R" link2="link5_L" reason="Never"/>
<disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent"/>
<disable_collisions link1="link4_R" link2="link6_L" reason="Never"/>
<disable_collisions link1="link4_R" link2="link6_R" reason="Never"/>
<disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent"/>
<disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent"/>
</robot>

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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
base_link1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint1_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint1_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6_L:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6_R:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

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right_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
left_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
waist:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005

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planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
right_arm:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(base_link1,joint1_R)
longest_valid_segment_fraction: 0.005
left_arm:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(base_link1,joint1_L)
longest_valid_segment_fraction: 0.005
waist:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo

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right_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1
joint1_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint2_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint3_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint4_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_R:
p: 100
d: 1
i: 1
i_clamp: 1
left_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1
joint1_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint2_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint3_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint4_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_L:
p: 100
d: 1
i: 1
i_clamp: 1
waist_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1

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Mybuddy/mybuddy_moveit/config/sensors_3d.yaml Normal file
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sensors:
[]

31
Mybuddy/mybuddy_moveit/config/simple_moveit_controllers.yaml Normal file
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controller_list:
- name: right_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: left_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- name: waist_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1

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stomp/right_arm:
group_name: right_arm
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
stomp/left_arm:
group_name: left_arm
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
stomp/waist:
group_name: waist
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized

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Mybuddy/mybuddy_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
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<launch>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mybuddy_moveit)/config/chomp_planning.yaml" />
</launch>

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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find mybuddy_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mybuddy_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(dirname)/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
</include>
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
</launch>

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<launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
</launch>

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Mybuddy/mybuddy_moveit/launch/firefighter_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
if no argument is passed, moveit_simple_controller_manager will be set -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- loads ros_controllers to the param server -->
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml"/>
</launch>

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<launch>
</launch>

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<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
default=" -J base_link1 0 -J joint1_L 0 -J joint1_R 0 -J joint2_L 0 -J joint2_R 0 -J joint3_L 0 -J joint3_R 0 -J joint4_L 0 -J joint4_R 0 -J joint5_L 0 -J joint5_R 0 -J joint6_L 0 -J joint6_R 0"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="true"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf" />
<!-- unpause only after loading robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<arg name="world_pose" value="-x 0 -y 0 -z 0" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load joint controller parameters for Gazebo -->
<rosparam file="$(find mybuddy_moveit)/config/gazebo_controllers.yaml" />
<!-- Spawn Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Load ROS controllers -->
<include file="$(dirname)/ros_controllers.launch"/>
</launch>

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<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>

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<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="false" />
<!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 144
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.10000000149011612
Joint Violation Color: 255; 0; 255
Planning Group: left_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.005000048317015171
Target Frame: base
Yaw: 5.679948806762695
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 848
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000121000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000164000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1291
X: 452
Y: 27

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<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
</node>
</launch>

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Mybuddy/mybuddy_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters" value="
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

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<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mybuddy_moveit)/config/ompl_planning.yaml"/>
</launch>

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<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mybuddy_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mybuddy_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mybuddy_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mybuddy_moveit)/config/kinematics.yaml"/>
</group>
</launch>

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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="right_arm_controller left_arm_controller waist_controller "/>
</launch>

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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mybuddy_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find mybuddy_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mybuddy_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

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<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mybuddy_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" />
</launch>

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<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mybuddy_moveit)/config/stomp_planning.yaml"/>
</launch>

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<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

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<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

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<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

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Mybuddy/mybuddy_moveit/package.xml Normal file
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<package>
<name>mybuddy_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="weijian.wang@elephatrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephatrobotics.com">wangweijian</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>mycobot_description</run_depend>
</package>

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#!/usr/bin/env python3
import time
import rospy
import os
from sensor_msgs.msg import JointState
from pymycobot.mybuddy import MyBuddy
import math
mb = None
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", data)
data_list = []
for index, value in enumerate(data.position):
data_list.append(value)
data_list1 = data_list[:6]
data_list2 = data_list[6:-1]
data_list3 = list(data_list[-1:])
print("left_arm: %s" % data_list1)
print("right_arm: %s" % data_list2)
print("waist: %s" % data_list3)
print("\n")
mb.send_radians(1,data_list1, 50)
time.sleep(0.02)
mb.send_radians(2,data_list2, 50)
time.sleep(0.02)
# mb.send_radians(3,data_list3, 50)
# time.sleep(0.02)
# mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
time.sleep(0.02)
def listener():
global mb
rospy.init_node("mybuddy_reciver", anonymous=True)
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mb = MyBuddy(port, baud)
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == "__main__":
listener()

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cmake_minimum_required(VERSION 2.8.3)
project(mybuddy_socket)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
)
## Declare a catkin package
catkin_package(
CATKIN_DEPENDS std_msgs actionlib
)
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
catkin_install_python(PROGRAMS
scripts/follow_display.py
scripts/slider_control.py
scripts/teleop_keyboard.py
scripts/listen_real.py
scripts/listen_real_of_topic.py
scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

25
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BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

269
Mybuddy/mybuddy_socket/config/dual_arm.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Axes1
- /TF1
- /TF1/Frames1
- /TF1/Tree1
Splitter Ratio: 0.5
Tree Height: 607
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Axes
Enabled: true
Length: 0.100000001
Name: Axes
Radius: 0.00999999978
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base:
Value: true
link1:
Value: true
link1_L:
Value: true
link1_R:
Value: true
link2_L:
Value: true
link2_R:
Value: true
link3_L:
Value: true
link3_R:
Value: true
link4_L:
Value: true
link4_R:
Value: true
link5_L:
Value: true
link5_R:
Value: true
link6_L:
Value: true
link6_R:
Value: true
Marker Scale: 0.2
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
link1:
link1_L:
link2_L:
link3_L:
link4_L:
link5_L:
link6_L:
{}
link1_R:
link2_R:
link3_R:
link4_R:
link5_R:
link6_R:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.71708035
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.219795272
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.67218757
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006450000003efc0100000002fb0000000800540069006d00650100000000000006450000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004d5000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1605
X: 290
Y: 26

203
Mybuddy/mybuddy_socket/config/mycobot.rviz Normal file
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@ -0,0 +1,203 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: joint1
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.20289087
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.440398335
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.430389732
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

216
Mybuddy/mybuddy_socket/config/mycobot_with_marker.rviz Normal file
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@ -0,0 +1,216 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
- /Marker1
- /Marker1/Namespaces1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
basic_shapes:
Value: true
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
basic_shapes:
{}
Update Interval: 0
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /visualization_marker
Name: Marker
Namespaces:
basic_cube: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: joint1
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.11990476
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.375398338
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.235389769
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24

11
Mybuddy/mybuddy_socket/launch/mybuddy_follow.launch Normal file
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<launch>
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

22
Mybuddy/mybuddy_socket/launch/simple_gui.launch Normal file
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@ -0,0 +1,22 @@
<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
</launch>

24
Mybuddy/mybuddy_socket/launch/slider_control.launch Normal file
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@ -0,0 +1,24 @@
<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="control_slider.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

21
Mybuddy/mybuddy_socket/launch/teleop_keyboard.launch Normal file
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@ -0,0 +1,21 @@
<launch>
<arg name="port" default="/dev/ttyACM0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
</launch>

18
Mybuddy/mybuddy_socket/launch/test.launch Normal file
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<launch>
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- <node name="rviz" pkg="rviz" type="rviz" /> -->
</launch>

47
Mybuddy/mybuddy_socket/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>mybuddy_socket</name>
<version>0.3.0</version>
<description>The mybuddy_socket package</description>
<author email="lijun.zhang@elephantrobotics.com">ZhangLijun</author>
<maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
<license>BSD</license>
<url type="website">https://github.com/elephantrobotics/mycobot_ros</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>mycobot_description</build_depend>
<build_depend>mybuddy_communication</build_depend>
<build_export_depend>mybuddy_communication</build_export_depend>
<build_export_depend>mycobot_description</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>joy</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>python-tk</exec_depend>
<exec_depend>mycobot_description</exec_depend>
<exec_depend>mybuddy_communication</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

140
Mybuddy/mybuddy_socket/scripts/follow_display.py Executable file
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#!/usr/bin/env python3
import time
import os
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.mybuddysocket import MyBuddySocket
import math
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mybuddy...")
ip = rospy.get_param("~ip", "192.168.123.219")
port = rospy.get_param("~port", 9000)
print("ip: {}, port: {}\n".format(ip, port))
try:
mb = MyBuddySocket(ip, port)
mb.connect(serialport="/dev/ttyACM0", baudrate="115200")
except Exception as e:
print(e)
print(
"""\
\rTry connect mybuddy failed!
\rPlease check wether connected with mybuddy.
\rPlease chckt wether the port or baud is right.
"""
)
exit(1)
mb.release_all_servos()
time.sleep(0.5)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=20)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=20)
rate = rospy.Rate(30) # hz
# pub joint state
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_L",
"joint2_L",
"joint3_L",
"joint4_L",
"joint5_L",
"joint6_L",
"joint1_R",
"joint2_R",
"joint3_R",
"joint4_R",
"joint5_R",
"joint6_R",
"base_link1",
]
joint_state_send.velocity = [0.0]
joint_state_send.effort = []
marker_ = Marker()
marker_.header.frame_id = "/base_link1"
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
left_radians = mb.get_radians(1)
right_radians = mb.get_radians(2)
wangles = mb.get_angles(3)[0]*(math.pi/180)
waist_radian =[]
waist_radian.append(wangles)
print('left:',left_radians,'right:',right_radians,'w:',waist_radian)
# =======all_radians=======
all_radians = left_radians + right_radians + waist_radian
data_list = []
for index, value in enumerate(all_radians):
data_list.append(value)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
print("all_radians: %s" % data_list)
pub.publish(joint_state_send)
# =======left_coords=======
left_coords = mb.get_coords(1)
# =======right_coords=======
right_coords = mb.get_coords(2)
waist_coords = mb.get_angles(3)
# marker
marker_.header.stamp = rospy.Time.now()
marker_.type = marker_.SPHERE
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 = left_coords[1] / 1000 * -1
marker_.pose.position.y = left_coords[0] / 1000
marker_.pose.position.z = left_coords[2] / 1000
time.sleep(0.02)
marker_.pose.position.x = right_coords[1] / 1000 * -1
marker_.pose.position.y = right_coords[0] / 1000
marker_.pose.position.z = right_coords[2] / 1000
time.sleep(0.02)
marker_.pose.position.x = waist_coords[0] / 1000 * -1
marker_.color.a = 1.0
marker_.color.r = 0.0
marker_.color.g = 1.0
marker_.color.b = 0.0
pub_marker.publish(marker_)
rate.sleep()
print("\n")
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy_socket/scripts/listen_real.py Normal file
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#!/usr/bin/env python3
# license removed for brevity
import time
import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mycobot_communication.srv import GetAngles
def talker():
rospy.loginfo("start ...")
rospy.init_node("real_listener", anonymous=True)
pub = rospy.Publisher("joint_states", JointState, queue_size=15)
rate = rospy.Rate(30) # 30hz
# pub joint state
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
# "joint2_to_joint1",
# "joint3_to_joint2",
# "joint4_to_joint3",
# "joint5_to_joint4",
# "joint6_to_joint5",
# "joint6output_to_joint6",
"base_link1",
"joint1_L",
"joint2_L",
"joint3_L",
"joint4_L",
"joint5_L",
"joint6_L",
"joint1_R",
"joint2_R",
"joint3_R",
"joint4_R",
"joint5_R",
"joint6_R",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
# waiting util server `get_joint_angles` enable.
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.
res = func()
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
continue
radians_list = [
res.joint_1 * (math.pi / 180),
res.joint_2 * (math.pi / 180),
res.joint_3 * (math.pi / 180),
res.joint_4 * (math.pi / 180),
res.joint_5 * (math.pi / 180),
res.joint_6 * (math.pi / 180),
]
rospy.loginfo("res: {}".format(radians_list))
# publish angles.
joint_state_send.header.stamp = rospy.Time.now()
joint_state_send.position = radians_list
pub.publish(joint_state_send)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy_socket/scripts/listen_real_of_topic.py Normal file
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#!/usr/bin/env python2
import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mycobot_communication.msg import MycobotAngles
class Listener(object):
def __init__(self):
super(Listener, self).__init__()
rospy.loginfo("start ...")
rospy.init_node("real_listener_1", anonymous=True)
# init publisher.
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
# init subscriber.
self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback)
rospy.spin()
def callback(self, data):
"""`mycobot/angles_real` subscriber callback method.
Args:
data (MycobotAngles): callback argument.
"""
# ini publisher object.
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
"joint6output_to_joint6",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
joint_state_send.header.stamp = rospy.Time.now()
# process callback data.
radians_list = [
data.joint_1 * (math.pi / 180),
data.joint_2 * (math.pi / 180),
data.joint_3 * (math.pi / 180),
data.joint_4 * (math.pi / 180),
data.joint_5 * (math.pi / 180),
data.joint_6 * (math.pi / 180),
]
rospy.loginfo("res: {}".format(radians_list))
joint_state_send.position = radians_list
self.pub.publish(joint_state_send)
if __name__ == "__main__":
try:
Listener()
except rospy.ROSInterruptException:
pass

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Mybuddy/mybuddy_socket/scripts/simple_gui.py Normal file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import tkinter as tk
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import time
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.model = 0
self.speed = rospy.get_param("~speed", 50)
# 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
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
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
x = (self.ws / 2) - 190
y = (self.hs / 2) - 250
self.win.geometry("430x370+{}+{}".format(x, y))
# 布局
self.set_layout()
# 输入部分
self.need_input()
# 展示部分
self.show_init()
# joint 设置按钮
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
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
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
)
tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
row=1, column=1, sticky="w", padx=3, pady=2
)
def connect_ser(self):
rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
rospy.wait_for_service("get_joint_angles")
rospy.wait_for_service("set_joint_angles")
rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords")
rospy.wait_for_service("switch_gripper_status")
try:
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
self.switch_gripper = rospy.ServiceProxy(
"switch_gripper_status", GripperStatus
)
except:
print("start error ...")
exit(1)
print("Connect service success.")
def set_layout(self):
self.frmLT = tk.Frame(width=200, height=200)
self.frmLC = tk.Frame(width=200, height=200)
self.frmLB = tk.Frame(width=200, height=200)
self.frmRT = tk.Frame(width=200, height=200)
self.frmLT.grid(row=0, column=0, padx=1, pady=3)
self.frmLC.grid(row=1, column=0, padx=1, pady=3)
self.frmLB.grid(row=1, column=1, padx=2, pady=3)
self.frmRT.grid(row=0, column=1, padx=2, pady=3)
def need_input(self):
# 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 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=" 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
self.j1_default = tk.StringVar()
self.j1_default.set(self.res_angles[0])
self.j2_default = tk.StringVar()
self.j2_default.set(self.res_angles[1])
self.j3_default = tk.StringVar()
self.j3_default.set(self.res_angles[2])
self.j4_default = tk.StringVar()
self.j4_default.set(self.res_angles[3])
self.j5_default = tk.StringVar()
self.j5_default.set(self.res_angles[4])
self.j6_default = tk.StringVar()
self.j6_default.set(self.res_angles[5])
self.x_default = tk.StringVar()
self.x_default.set(self.record_coords[0])
self.y_default = tk.StringVar()
self.y_default.set(self.record_coords[1])
self.z_default = tk.StringVar()
self.z_default.set(self.record_coords[2])
self.rx_default = tk.StringVar()
self.rx_default.set(self.record_coords[3])
self.ry_default = tk.StringVar()
self.ry_default.set(self.record_coords[4])
self.rz_default = tk.StringVar()
self.rz_default.set(self.record_coords[5])
# 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)
self.J_2.grid(row=1, column=1, pady=3)
self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
self.J_3.grid(row=2, column=1, pady=3)
self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
self.J_4.grid(row=3, column=1, pady=3)
self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default)
self.J_5.grid(row=4, column=1, pady=3)
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
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)
self.y.grid(row=1, column=1, pady=3)
self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
self.z.grid(row=2, column=1, pady=3)
self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
self.rx.grid(row=3, column=1, pady=3)
self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default)
self.ry.grid(row=4, column=1, pady=3)
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
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
tk.Label(
self.frmLB,
text="speed",
).grid(row=0, column=0)
self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
self.get_speed.grid(row=0, column=1)
def show_init(self):
# 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 3 ").grid(row=2)
tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
# get数据
# ，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)
self.cont_2.set(str(self.res_angles[1]) + "°")
self.cont_3 = tk.StringVar(self.frmLC)
self.cont_3.set(str(self.res_angles[2]) + "°")
self.cont_4 = tk.StringVar(self.frmLC)
self.cont_4.set(str(self.res_angles[3]) + "°")
self.cont_5 = tk.StringVar(self.frmLC)
self.cont_5.set(str(self.res_angles[4]) + "°")
self.cont_6 = tk.StringVar(self.frmLC)
self.cont_6.set(str(self.res_angles[5]) + "°")
self.cont_all = [
self.cont_1,
self.cont_2,
self.cont_3,
self.cont_4,
self.cont_5,
self.cont_6,
self.speed,
self.model,
]
self.show_j1 = tk.Label(
self.frmLC,
textvariable=self.cont_1,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=1, padx=0, pady=5)
self.show_j2 = tk.Label(
self.frmLC,
textvariable=self.cont_2,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=1, padx=0, pady=5)
self.show_j3 = tk.Label(
self.frmLC,
textvariable=self.cont_3,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=1, padx=0, pady=5)
self.show_j4 = tk.Label(
self.frmLC,
textvariable=self.cont_4,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=1, padx=0, pady=5)
self.show_j5 = tk.Label(
self.frmLC,
textvariable=self.cont_5,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=1, padx=0, pady=5)
self.show_j6 = tk.Label(
self.frmLC,
textvariable=self.cont_6,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=5, column=1, padx=5, pady=5)
self.all_jo = [
self.show_j1,
self.show_j2,
self.show_j3,
self.show_j4,
self.show_j5,
self.show_j6,
]
# 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=" 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)
tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3)
self.coord_x = tk.StringVar()
self.coord_x.set(str(self.record_coords[0]))
self.coord_y = tk.StringVar()
self.coord_y.set(str(self.record_coords[1]))
self.coord_z = tk.StringVar()
self.coord_z.set(str(self.record_coords[2]))
self.coord_rx = tk.StringVar()
self.coord_rx.set(str(self.record_coords[3]))
self.coord_ry = tk.StringVar()
self.coord_ry.set(str(self.record_coords[4]))
self.coord_rz = tk.StringVar()
self.coord_rz.set(str(self.record_coords[5]))
self.coord_all = [
self.coord_x,
self.coord_y,
self.coord_z,
self.coord_rx,
self.coord_ry,
self.coord_rz,
self.speed,
self.model,
]
self.show_x = tk.Label(
self.frmLC,
textvariable=self.coord_x,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=4, padx=5, pady=5)
self.show_y = tk.Label(
self.frmLC,
textvariable=self.coord_y,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=4, padx=5, pady=5)
self.show_z = tk.Label(
self.frmLC,
textvariable=self.coord_z,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=4, padx=5, pady=5)
self.show_rx = tk.Label(
self.frmLC,
textvariable=self.coord_rx,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=4, padx=5, pady=5)
self.show_ry = tk.Label(
self.frmLC,
textvariable=self.coord_ry,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=4, padx=5, pady=5)
self.show_rz = tk.Label(
self.frmLC,
textvariable=self.coord_rz,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=5, column=4, padx=5, pady=5)
# mm 单位展示
self.unit = tk.StringVar()
self.unit.set("mm")
for i in range(6):
tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
row=i, column=5
)
def gripper_open(self):
try:
self.switch_gripper(True)
except ServiceException:
# 可能由于该方法没有返回值，服务抛出无法处理的错误
pass
def gripper_close(self):
try:
self.switch_gripper(False)
except ServiceException:
pass
def get_coord_input(self):
# 获取 coord 输入的数据，发送给机械臂
c_value = []
for i in self.all_c:
# print(type(i.get()))
c_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
c_value.append(self.speed)
c_value.append(self.model)
# print(c_value)
try:
self.set_coords(*c_value)
except ServiceException:
pass
self.show_j_date(c_value[:-2], "coord")
def get_joint_input(self):
# 获取joint输入的数据，发送给机械臂
j_value = []
for i in self.all_j:
# print(type(i.get()))
j_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
j_value.append(self.speed)
try:
self.set_angles(*j_value)
except ServiceException:
pass
self.show_j_date(j_value[:-1])
# return j_value,c_value,speed
def get_date(self):
# 拿机械臂的数据，用于展示
t = time.time()
while time.time() - t < 2:
self.res = self.get_coords()
if self.res.x > 1:
break
time.sleep(0.1)
t = time.time()
while time.time() - t < 2:
self.angles = self.get_angles()
if self.angles.joint_1 > 1:
break
time.sleep(0.1)
# print(self.angles.joint_1)
self.record_coords = [
round(self.res.x, 2),
round(self.res.y, 2),
round(self.res.z, 2),
round(self.res.rx, 2),
round(self.res.ry, 2),
round(self.res.rz, 2),
self.speed,
self.model,
]
self.res_angles = [
round(self.angles.joint_1, 2),
round(self.angles.joint_2, 2),
round(self.angles.joint_3, 2),
round(self.angles.joint_4, 2),
round(self.angles.joint_5, 2),
round(self.angles.joint_6, 2),
]
# print('coord:',self.record_coords)
# print('angles:',self.res_angles)
# def send_input(self,dates):
def show_j_date(self, date, way=""):
# 展示数据
if way == "coord":
for i, j in zip(date, self.coord_all):
# print(i)
j.set(str(i))
else:
for i, j in zip(date, self.cont_all):
j.set(str(i) + "°")
def run(self):
while True:
try:
self.win.update()
time.sleep(0.001)
except tk.TclError as e:
if "application has been destroyed" in str(e):
break
else:
raise
def main():
window = tk.Tk()
window.title("mycobot ros GUI")
Window(window).run()
if __name__ == "__main__":
main()

67
Mybuddy/mybuddy_socket/scripts/slider_control.py Executable file
View file

@ -0,0 +1,67 @@
#!/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/ttyACM0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mybuddysocket import MyBuddySocket
import time
import os
import math
mb = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
# print(data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(value)
print(data_list)
data_list1 = data_list[:6]
data_list2 = data_list[6:-1]
data_list3 = data_list[-1:]
print("left_arm: %s" % data_list1)
print("right_arm: %s" % data_list2)
print("waist: %s" % data_list3)
mb.send_radians(1,data_list1, 50)
time.sleep(0.02)
mb.send_radians(2,data_list2, 50)
time.sleep(0.02)
# print(data_list3[0]* (180 / math.pi))
print("\n")
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
# mb.send_radians(3,data_list3, 50)
time.sleep(0.02)
def listener():
global mb
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
ip = rospy.get_param("~ip", "192.168.123.219")
port = rospy.get_param("~port", 9000)
print(ip, port)
mb = MyBuddySocket(ip, port)
mb.connect(serialport="/dev/ttyACM0", baudrate="115200")
# spin() simply keeps python from exiting until this node is stopped
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

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