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fix bug

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This commit is contained in:
wangWking 2022-04-27 12:01:49 +08:00
parent 099a86d662
commit 2a76f925df
4 changed files with 24 additions and 13 deletions
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2
mecharm/mecharm_pi/scripts/follow_display.py
View file

@ -70,7 +70,7 @@ def talker():
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
data_list.insert(3,0.0)
# data_list.insert(3,0.0)
print(joint_state_send.position)
pub.publish(joint_state_send)

4
mecharm/mecharm_pi/scripts/listen_real.py
View file

@ -7,9 +7,7 @@ import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
# from mycobot_communication.srv import GetAngles
from mypalletizer_communication.srv import GetAngles
# from pymycobot.mypalletizer import MyPalletizer
from mycobot_communication.srv import GetAngles
def talker():

2
mecharm/mecharm_pi/scripts/listen_real_of_topic.py
View file

@ -6,7 +6,7 @@ import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mycobot_communication.msg import MycobotAngles
from mypalletizer_communication.msg import MypalAngles
class Listener(object):

29
mecharm/mecharm_pi/scripts/teleop_keyboard.py
View file

@ -15,14 +15,15 @@ import roslib
msg = """\
MyCobot Teleop Keyboard Controller
---------------------------
Movimg options(control coordinations [x,y,z,rx]):
Movimg options(control coordinations [x,y,z,rx,ry,rz]):
w(x+)
a(y-) s(x-) d(y+)
z(z-) x(z+)
z(z-) x(z+)
u(rx+) i(rx-)
u(rx+) i(ry+) o(rz+)
j(rx-) k(ry-) l(rz-)
Gripper control:
@ -82,8 +83,8 @@ def teleop_keyboard():
exit(1)
init_pose = [0, 0,0, 0, speed]
home_pose = [0,30, 30, 0,speed]
init_pose = [0, 0, 0, 0, 0, 0, speed]
home_pose = [0, 8, -127, 40, 0, 0, speed]
# rsp = set_angles(*init_pose)
@ -93,7 +94,7 @@ def teleop_keyboard():
break
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, res.rx, speed, model]
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
print(record_coords)
@ -129,9 +130,21 @@ def teleop_keyboard():
elif key in ["u", "U"]:
record_coords[3] += change_angle
set_coords(*record_coords)
elif key in ["i", "I"]:
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"]:
@ -146,7 +159,7 @@ def teleop_keyboard():
home_pose[1] = rep.joint_2
home_pose[2] = rep.joint_3
home_pose[3] = rep.joint_4
# home_pose[4] = rep.joint_5
home_pose[4] = rep.joint_5
else:
continue