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fix bug

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This commit is contained in:
wangWking 2022-04-28 17:45:10 +08:00
parent 881aae584a
commit 2a3ecb24fd
3 changed files with 9 additions and 9 deletions
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9
mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py
View file

@ -15,7 +15,7 @@ def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mycobot...")
port = rospy.get_param("~port", "/dev/ttyACM0")
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud))
try:
@ -65,14 +65,14 @@ def talker():
data_list = []
for index, value in enumerate(angles):
data_list.append(value)
# print('data_list=======================>',data_list)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
pub.publish(joint_state_send)
coords = mycobot.get_coords()
# print('coords=========================>',coords)
# marker
marker_.header.stamp = rospy.Time.now()
marker_.type = marker_.SPHERE
@ -82,10 +82,9 @@ def talker():
marker_.scale.z = 0.04
# marker position initial
print('coordscoords------------->',coords)
if not coords:
coords = [0, 0, 0, 0, 0, 0]
# print('coordscoordscoords====----==========>',coords)
rospy.loginfo("error [101]: can not get coord values")
marker_.pose.position.x = coords[1] / 1000 * -1

2
mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
View file

@ -35,7 +35,7 @@ def listener():
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyACM0")
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)

7
mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py
View file

@ -11,7 +11,7 @@ import time
import roslib
# Terminal output prompt information. 终端输出提示信息
msg = """\
Mycobot Teleop Keyboard Controller
---------------------------
@ -64,7 +64,7 @@ def teleop_keyboard():
change_angle = 180 * change_percent / 100
change_len = 250 * change_percent / 100
rospy.wait_for_service("get_joint_ang cles")
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")
@ -88,8 +88,8 @@ def teleop_keyboard():
while True:
res = get_coords()
# print(res)
if res.x > 1:
print("joint1's angle : "+str(res.x)+"is not > 1,please calibrate the joint1's angle")
break
time.sleep(0.1)
@ -99,6 +99,7 @@ def teleop_keyboard():
try:
print(msg)
print(vels(speed, change_percent))
# Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
while 1:
try:
# print("\r current coords: %s" % record_coords, end="")