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wangWking 2022-09-13 16:01:48 +08:00 • committed by GitHub
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45
mecharm/mecharm/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.0.2)
project(mecharm)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
image_transport
cv_bridge
)
## 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/detect_marker.py
scripts/following_marker.py
scripts/follow_and_pump.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})
# find_package(OpenCV REQUIRED)
# add_executable(opencv_camera src/opencv_camera)
# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
# add_executable(camera_display src/camera_display)
# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

25
mecharm/mecharm/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.

211
mecharm/mecharm/config/mecharm.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
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
- 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
env:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
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
env:
Value: true
link1:
Value: true
link2:
Value: true
link3:
Value: true
link4:
Value: true
link5:
Value: true
link6:
Value: true
Marker Scale: 0.200000003
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
env:
{}
link1:
link2:
link3:
link4:
link5:
link6:
{}
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: 1.49407828
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: 0.344796687
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.20677686
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004b8000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1853
X: 65
Y: 24

216
mecharm/mecharm/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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mecharm/mecharm/launch/detect_marker.launch Normal file
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<launch>
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="true" />
<arg name="num" default="0" />
<include file="$(find mycobot_280)/launch/slider_control.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
</launch>

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mecharm/mecharm/launch/detect_marker_with_topic.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="false" />
<arg name="num" default="0" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到 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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics ,mycobot-话题-->
<include file="$(find mycobot_communication)/launch/communication_topic.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles，坚听并发布真实的角度 -->
<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
</launch>

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mecharm/mecharm/launch/follow.launch Normal file
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<launch>
<!-- Load file model .加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF .将值合并到 TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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mecharm/mecharm/launch/simple_gui.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到 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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics, mycobot-话题-->
<include file="$(find mecharm_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实角度-->
<node name="real_listener" pkg="mecharm" type="listen_real.py" />
<node name="simple_gui" pkg="mecharm" type="simple_gui.py" />
</launch>

25
mecharm/mecharm/launch/slider_control.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF， 将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz，显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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mecharm/mecharm/launch/teleop_keyboard.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- Load file model ，加载文件模型-->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics，mycobot-话题 -->
<include file="$(find mecharm_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实话题-->
<node name="real_listener" pkg="mecharm" type="listen_real.py" />
</launch>

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mecharm/mecharm/launch/test.launch Normal file
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<launch>
<!-- Load file model，加载文件模型 -->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz.显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

47
mecharm/mecharm/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>mecharm</name>
<version>0.0.0</version>
<description>The mecharm package</description>
<author email="weijian.wang@elephantrobotics.com">WangWeiJian</author>
<maintainer email="weijian.wang@elephantrobotics.com">WangWeiJian</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>mecharm_communication</build_depend>
<build_export_depend>mecharm_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>mecharm_communication</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

125
mecharm/mecharm/scripts/detect_marker.py Executable file
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#!/usr/bin/env python
# -*- coding:utf-8 -*-
import rospy
import cv2 as cv
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
import tf
from tf.broadcaster import TransformBroadcaster
import tf_conversions
from mycobot_communication.srv import (
GetCoords,
SetCoords,
GetAngles,
SetAngles,
GripperStatus,
)
class ImageConverter:
def __init__(self):
self.br = TransformBroadcaster()
self.bridge = CvBridge()
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
self.aruo_params = cv.aruco.DetectorParameters_create()
calibrationParams = cv.FileStorage(
"calibrationFileName.xml", cv.FILE_STORAGE_READ
)
self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
self.camera_matrix = None
# subscriber, listen wether has img come in. 订阅者，监听是否有img进来
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
def callback(self, data):
"""Callback function.
Process image with OpenCV, detect Mark to get the pose. Then acccording the
pose to transforming.
"""
try:
# trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
size = cv_image.shape
focal_length = size[1]
center = [size[1] / 2, size[0] / 2]
if self.camera_matrix is None:
# calc the camera matrix, if don't have. 如果没有就计算相机矩阵
self.camera_matrix = np.array(
[
[focal_length, 0, center[0]],
[0, focal_length, center[1]],
[0, 0, 1],
],
dtype=np.float32,
)
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
# detect aruco marker. 检测 aruco 标记。
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
corners, ids = ret[0], ret[1]
# process marker data.
if len(corners) > 0:
if ids is not None:
# print('corners:', corners, 'ids:', ids)
# detect marker pose. 检测标记姿势
# argument:
# marker corners, 标记角
# marker size (meter), 标记尺寸（米）
ret = cv.aruco.estimatePoseSingleMarkers(
corners, 0.05, self.camera_matrix, self.dist_coeffs
)
(rvec, tvec) = (ret[0], ret[1])
(rvec - tvec).any()
print("rvec:", rvec, "tvec:", tvec)
# just select first one detected marker. 只需选择第一个检测到的标记
for i in range(rvec.shape[0]):
cv.aruco.drawDetectedMarkers(cv_image, corners)
cv.aruco.drawAxis(
cv_image,
self.camera_matrix,
self.dist_coeffs,
rvec[i, :, :],
tvec[i, :, :],
0.03,
)
xyz = tvec[0, 0, :]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
# get quaternion for ros. 为ros获取四元数
euler = rvec[0, 0, :]
tf_change = tf.transformations.quaternion_from_euler(
euler[0], euler[1], euler[2]
)
print("tf_change:", tf_change)
# trans pose according [joint1]
# 根据 [joint1] 变换姿势
self.br.sendTransform(
xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
)
# [x, y, z, -172, 3, -46.8]
cv.imshow("Image", cv_image)
cv.waitKey(3)
try:
pass
except CvBridgeError as e:
print(e)
if __name__ == "__main__":
try:
rospy.init_node("detect_marker")
rospy.loginfo("Starting cv_bridge_test node")
ImageConverter()
rospy.spin()
except KeyboardInterrupt:
print("Shutting down cv_bridge_test node.")
cv.destroyAllWindows()

197
mecharm/mecharm/scripts/follow_and_pump.py Executable file
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#!/usr/bin/env python2
# coding:utf-8
import rospy
from visualization_msgs.msg import Marker
import time
import os
# Type of message to communicate with mycobot
# 与 mycobot 通信的消息类型
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
rospy.init_node("gipper_subscriber", anonymous=True)
# Control the topic of mycobot, followed by angle, coordinates, gripper
# 控制mycobot的话题，依次是角度、坐标、夹爪
angle_pub = rospy.Publisher("mycobot/angles_goal",
MycobotSetAngles, queue_size=5)
coord_pub = rospy.Publisher("mycobot/coords_goal",
MycobotSetCoords, queue_size=5)
# Judging device: ttyUSB* is M5；ttyACM* is wio
# 判断设备：ttyUSB*为M5；ttyACM*为wio
robot = os.popen("ls /dev/ttyAMA*").readline()
if "dev" in robot:
Pin = [2, 5]
else:
Pin = [20, 21]
pump_pub = rospy.Publisher("mycobot/pump_status",
MycobotPumpStatus, queue_size=5)
# Instantiate the message object. 实例化消息对象
angles = MycobotSetAngles()
coords = MycobotSetCoords()
pump = MycobotPumpStatus()
# Deviation value from the real position of mycobot
# 与mycobot真实位置的偏差值
x_offset = -20
y_offset = 20
z_offset = 110
# With this variable limit, the fetching behavior is only done once
# 使用此变量限制，抓取行为仅执行一次
flag = False
# In order to compare whether the QR code moves later
# 为了比较二维码后面是否移动
temp_x = temp_y = temp_z = 0.0
temp_time = time.time()
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
"""Post coordinates 发布坐标"""
coords.x = x
coords.y = y
coords.z = z
coords.rx = rx
coords.ry = ry
coords.rz = rz
coords.speed = 70
coords.model = m
# print(coords)
coord_pub.publish(coords)
def pub_angles(a, b, c, d, e, f, sp):
"""Publishing angle. 发布角度"""
angles.joint_1 = float(a)
angles.joint_2 = float(b)
angles.joint_3 = float(c)
angles.joint_4 = float(d)
angles.joint_5 = float(e)
angles.joint_6 = float(f)
angles.speed = sp
angle_pub.publish(angles)
def pub_pump(flag, Pin):
"""Publish gripper status. 发布夹爪状态"""
pump.Status = flag
pump.Pin1 = Pin[0]
pump.Pin2 = Pin[1]
pump_pub.publish(pump)
def target_is_moving(x, y, z):
"""Determine whether the target moves. 判断目标是否移动"""
count = 0
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
print(o, n)
if abs(o - n) < 2:
count += 1
print(count)
if count == 3:
return False
return True
def grippercallback(data):
"""callback function. 回调函数"""
global flag, temp_x, temp_y, temp_z
# rospy.loginfo('gripper_subscriber get date :%s', data)
if flag:
return
# Parse out the coordinate value. 解析出坐标值
# pump length: 88mm
x = float(format(data.pose.position.x * 1000, ".2f"))
y = float(format(data.pose.position.y * 1000, ".2f"))
z = float(format(data.pose.position.z * 1000, ".2f"))
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
if (
time.time() - temp_time < 30
or (temp_x == temp_y == temp_z == 0.0)
or target_is_moving(x - x_offset, y - y_offset, z)
):
x -= x_offset
y -= y_offset
pub_coords(x - 20, y, 280)
time.sleep(0.1)
temp_x, temp_y, temp_z = x, y, z
return
else: # Indicates that the target is in a stationary state and can be attempted to grab. 表示目标处于静止状态，可以尝试抓取
print(x, y, z)
# detect heigth + pump height + limit height + offset
x += x_offset
y += y_offset
z = z + 88 + z_offset
pub_coords(x, y, z)
time.sleep(2.5)
# down
for i in range(1, 17):
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
time.sleep(0.1)
time.sleep(2)
pub_pump(True, Pin)
# pump on
pub_coords(x, y, z + 20, -165)
time.sleep(1.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
put_z = 140
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
time.sleep(1.5)
for i in range(1, 8):
pub_coords(39.4, -174.7, put_z - i * 5, -
177.13, -4.13, -152.59, 15, 2)
time.sleep(0.1)
pub_pump(False, Pin)
time.sleep(0.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
# finally
flag = True
def main():
for _ in range(10):
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
pub_angles(0, 30, -50, -40, 0, 0, 50)
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
time.sleep(0.5)
pub_pump(False, Pin)
# time.sleep(2.5)
# subscribers to mark information, mark信息的订阅者
rospy.Subscriber("visualization_marker", Marker,
grippercallback, queue_size=1)
print("gripper test")
rospy.spin()
if __name__ == "__main__":
main()

111
mecharm/mecharm/scripts/follow_display.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.mycobot import MyCobot
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mecharm...")
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud))
try:
mycobot = MyCobot(port, baud)
except Exception as e:
print(e)
print(
"""\
\rTry connect mecharm failed!
\rPlease check wether connected with MyCobot.
\rPlease chckt wether the port or baud is right.
"""
)
exit(1)
mycobot.release_all_servos()
time.sleep(0.1)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(30) # 30hz
# pub joint state. 发布关节状态
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
marker_ = Marker()
marker_.header.frame_id = "/base"
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
angles = mycobot.get_radians()
data_list = []
for index, value in enumerate(angles):
data_list.append(value)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
# data_list.insert(3,0.0)
print(joint_state_send.position)
pub.publish(joint_state_send)
coords = mycobot.get_coords()
# 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. 标记初始位置
# print(coords)
if not coords:
# coords = [0, 0, 0, 0, 0 ]
coords = [0, 0, 0, 0, 0, 0]
rospy.loginfo("error [101]: can not get coord values")
marker_.pose.position.x = coords[1] / 1000 * -1
marker_.pose.position.y = coords[0] / 1000
marker_.pose.position.z = coords[2] / 1000
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

65
mecharm/mecharm/scripts/following_marker.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
import tf
def talker():
rospy.init_node("following_marker", anonymous=True)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(20)
listener = tf.TransformListener()
marker_ = Marker()
marker_.header.frame_id = "/joint1"
marker_.ns = "basic_cube"
print("publishing ...")
while not rospy.is_shutdown():
now = rospy.Time.now() - rospy.Duration(0.1)
try:
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
except Exception as e:
print(e)
continue
print(type(trans), trans)
print(type(rot), rot)
# marker 标记
marker_.header.stamp = now
marker_.type = marker_.CUBE
marker_.action = marker_.ADD
marker_.scale.x = 0.04
marker_.scale.y = 0.04
marker_.scale.z = 0.04
# marker position initial. 标记初始位置
marker_.pose.position.x = trans[0]
marker_.pose.position.y = trans[1]
marker_.pose.position.z = trans[2]
marker_.pose.orientation.x = rot[0]
marker_.pose.orientation.y = rot[1]
marker_.pose.orientation.z = rot[2]
marker_.pose.orientation.w = rot[3]
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

68
mecharm/mecharm/scripts/listen_real.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
# 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=10)
rate = rospy.Rate(30) # 30hz
# pub joint state 发布关节状态
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
]
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.
# 从服务获取真实的角度
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. 发布角度
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

67
mecharm/mecharm/scripts/listen_real_of_topic.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
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. 初始化发布者
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
# init subscriber. 初始化订阅者
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.
# 初始化发布者对象
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"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. 处理回调数据
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

478
mecharm/mecharm/scripts/simple_gui.py Executable file
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#!/usr/bin/env python
# -*- 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) # fixed window size，固定窗口大小
self.model = 0
self.speed = rospy.get_param("~speed", 50)
# set default speed，设置默认速度
self.speed_d = tk.StringVar()
self.speed_d.set(str(self.speed))
# print(self.speed)
self.connect_ser()
# Get the data of the robotic arm，获取机械臂数据
self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model]
self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model]
self.get_date()
# get screen width and height.获取屏幕宽度和高度
self.ws = self.win.winfo_screenwidth() # width of the screen
self.hs = self.win.winfo_screenheight() # height of the screen
# calculate x and y coordinates for the Tk root window
# 计算 Tk 根窗口的 x 和 y 坐标
x = (self.ws / 2) - 190
y = (self.hs / 2) - 250
self.win.geometry("430x400+{}+{}".format(x, y))
# layout,布局
self.set_layout()
# input section,输入部分
self.need_input()
# Show part,展示部分
self.show_init()
# Set the joint buttons 设置joint按钮
tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
row=6, column=1, sticky="w", padx=3, pady=2
)
# coordination settings button,coordination 设置按钮
tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
row=6, column=1, sticky="w", padx=3, pady=2
)
# Gripper switch button,夹爪开关按钮
tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid(
row=1, column=0, sticky="w", padx=3, pady=50
)
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):
# input hint,输入提示
tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行
tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
tk.Label(self.frmLT, text="Joint 5 ").grid(row=4)
tk.Label(self.frmLT, text="Joint 6 ").grid(row=5)
tk.Label(self.frmRT, text=" x ").grid(row=0)
tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行
tk.Label(self.frmRT, text=" z ").grid(row=2)
tk.Label(self.frmRT, text=" rx ").grid(row=3)
tk.Label(self.frmRT, text=" ry ").grid(row=4)
tk.Label(self.frmRT, text=" rz ").grid(row=5)
# Set the default value of the input box,设置输入框的默认值
self.j1_default = tk.StringVar()
self.j1_default.set(self.res_angles[0])
self.j2_default = tk.StringVar()
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 input box,joint 输入框
self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
self.J_1.grid(row=0, column=1, pady=3)
self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default)
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 input box,coord 输入框
self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
self.x.grid(row=0, column=1, pady=3, padx=0)
self.y = tk.Entry(self.frmRT, textvariable=self.y_default)
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)
# All input boxes, used to get the input data,所有输入框，用于拿输入的数据
self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6]
self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]
# speed input box,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):
# show,显示
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行
tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
# get数据
# show,展示出来
self.cont_1 = tk.StringVar(self.frmLC)
self.cont_1.set(str(self.res_angles[0]) + "°")
self.cont_2 = tk.StringVar(self.frmLC)
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,
]
# show,显示
tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3)
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， Unit show，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:
# Probably because the method has no return value, the service throws an unhandled error
# 可能由于该方法没有返回值，服务抛出无法处理的错误
pass
def gripper_close(self):
try:
self.switch_gripper(False)
except ServiceException:
pass
def get_coord_input(self):
# Get the data input by coord and send it to the robotic arm
# 获取 coord 输入的数据，发送给机械臂
c_value = []
for i in self.all_c:
# 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):
# Get the data input by the joint and send it to the robotic arm
# 获取joint输入的数据，发送给机械臂
j_value = []
for i in self.all_j:
# 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):
# Take the data of the robotic arm for display.拿机械臂的数据，用于展示
t = time.time()
while time.time() - t < 2:
self.res = self.get_coords()
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=""):
# Show data,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()

52
mecharm/mecharm/scripts/slider_control.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
"""[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/ttyUSB0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = 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)
mc.send_radians(data_list, 80)
# time.sleep(0.5)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
# spin() simply keeps python from exiting until this node is stopped
# spin() 只是阻止python退出，直到该节点停止
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

180
mecharm/mecharm/scripts/teleop_keyboard.py Executable file
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#!/usr/bin/env python
# -*- coding:utf-8 -*-
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
# Terminal output prompt information. 终端输出提示信息
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", 40)
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, 8, -127, 40, 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))
# 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="")
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)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
elif key in "2":
rsp = set_angles(*home_pose)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
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[4] = 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

216
mecharm/mecharm_communication/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(mecharm_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
MycobotAngles.msg
MycobotCoords.msg
MycobotSetAngles.msg
MycobotSetCoords.msg
MycobotGripperStatus.msg
MycobotPumpStatus.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/${PROJECT_NAME}/mycobot_commuication.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/mycobot_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/mecharm_services.py
scripts/mecharm_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_mycobot_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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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>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Open communication service ，开启通讯服务-->
<node name="mecharm_services" pkg="mecharm_communication" type="mecharm_topics_jsnn.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Open communication service ，开启通讯服务-->
<node name="mecharm_services" pkg="mecharm_communication" type="mecharm_topics_seeed.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- Open communication service ，开启通讯服务-->
<node name="mecharm_services" pkg="mecharm_communication" type="mecharm_services.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<!-- <arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" /> -->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- Open communication service，开启通讯服务 -->
<node name="mecharm_services" pkg="mecharm_communication" type="mecharm_topics.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

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3<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Open communication service --><!-- 开启通讯服务 -->
<node name="mecharm_services" pkg="mecharm_communication" type="mecharm_topics_pi.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>
</launch>

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float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6

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float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz

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bool Status

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bool Status
int8 Pin1
int8 Pin2

8
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float32 joint_1
float32 joint_2
float32 joint_3
float32 joint_4
float32 joint_5
float32 joint_6
int8 speed

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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>mecharm_communication</name>
<version>0.1.0</version>
<description>The mecharm_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>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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#!/usr/bin/env python2
# -*- coding: UTF-8 -*-
import time
import rospy
from mycobot_communication.srv import *
from pymycobot.mycobot import MyCobot
mc = None
def create_handle():
global mc
rospy.init_node("mecharm_services")
rospy.loginfo("start ...")
port = rospy.get_param("~port")
baud = rospy.get_param("~baud")
rospy.loginfo("%s,%s" % (port, baud))
mc = MyCobot(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):
"""set angles，设置角度"""
angles = [
req.joint_1,
req.joint_2,
req.joint_3,
req.joint_4,
req.joint_5,
req.joint_6,
]
sp = req.speed
if mc:
mc.send_angles(angles, sp)
return SetAnglesResponse(True)
def get_angles(req):
"""get angles,获取角度"""
if mc:
angles = mc.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 mc:
mc.send_coords(coords, sp, mod)
return SetCoordsResponse(True)
def get_coords(req):
if mc:
coords = mc.get_coords()
return GetCoordsResponse(*coords)
def switch_status(req):
"""Gripper switch status"""
"""夹爪开关状态"""
if mc:
if req.Status:
mc.set_gripper_state(0, 80)
else:
mc.set_gripper_state(1, 80)
return GripperStatusResponse(True)
def toggle_pump(req):
if mc:
if req.Status:
mc.set_basic_output(req.Pin1, 0)
mc.set_basic_output(req.Pin2, 0)
else:
mc.set_basic_output(req.Pin1, 1)
mc.set_basic_output(req.Pin2, 1)
return PumpStatusResponse(True)
robot_msg = """
MyCobot Status
--------------------------------
Joint Limit:
joint 1: -160 ~ +160
joint 2: -90 ~ +90
joint 3: -180 ~ +45
joint 4: -160 ~ +160
joint 5: -100 ~ +100
joint 6: -180 ~ +180
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 mc:
cn = mc.is_controller_connected()
if cn == 1:
connect_status = True
time.sleep(0.1)
si = mc.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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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import os
import sys
import signal
import threading
import rospy
from mycobot_communication.msg import (
MycobotAngles,
MycobotCoords,
MycobotSetAngles,
MycobotSetCoords,
MycobotGripperStatus,
MycobotPumpStatus,
)
from pymycobot.mycobot import MyCobot
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 MycobotTopics(object):
def __init__(self):
super(MycobotTopics, self).__init__()
rospy.init_node("mycobot_topics")
rospy.loginfo("start ...")
port = rospy.get_param("~port", os.popen("ls /dev/ttyUSB*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mc = MyCobot(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("mycobot/angles_real",
MycobotAngles, queue_size=5)
ma = MycobotAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.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]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("mycobot/coords_real",
MycobotCoords, queue_size=5)
ma = MycobotCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mc.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,
]
sp = int(data.speed)
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"mycobot/angles_goal", MycobotSetAngles, 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]
sp = int(data.speed)
model = int(data.model)
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"mycobot/coords_goal", MycobotSetCoords, 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.mc.set_gripper_state(0, 80)
else:
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mc.set_basic_output(data.Pin1, 0)
self.mc.set_basic_output(data.Pin2, 0)
else:
self.mc.set_basic_output(data.Pin1, 1)
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"mycobot/pump_status", MycobotPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = MycobotTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()
# mc_topics.sub_set_angles()
pass

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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import os
import sys
import signal
import threading
import rospy
from mycobot_communication.msg import (
MycobotAngles,
MycobotCoords,
MycobotSetAngles,
MycobotSetCoords,
MycobotGripperStatus,
MycobotPumpStatus,
)
# from pymycobot import MyCobot
from pymycobot import MyCobotSocket # pi
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#
# 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了
# tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT
print("KeyBoardInterrupt")
self.kill()
sys.exit()
def kill(self):
try:
os.kill(self.child, signal.SIGKILL)
except OSError:
pass
class MycobotTopics(object):
def __init__(self):
super(MycobotTopics, self).__init__()
rospy.init_node("mycobot_topics")
rospy.loginfo("start ...")
# Select connected device，选择连接设备
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
# self.mc = MyCobot(port,baud)
self.mc = MyCobotSocket(port, baud) # port
self.mc.connect()
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("mycobot/angles_real", MycobotAngles, queue_size=5)
ma = MycobotAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.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]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5)
ma = MycobotCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mc.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,
]
sp = int(data.speed)
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"mycobot/angles_goal", MycobotSetAngles, callback=callback
)
rospy.spin()
def sub_set_coords(self):
"""Subscribe to coordinates"""
"""订阅坐标"""
def callback(data):
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
sp = int(data.speed)
model = int(data.model)
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"mycobot/coords_goal", MycobotSetCoords, 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.mc.set_gripper_state(0, 80)
else:
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mc.set_basic_output(data.Pin1, 0)
self.mc.set_basic_output(data.Pin2, 0)
else:
self.mc.set_basic_output(data.Pin1, 1)
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"mycobot/pump_status", MycobotPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = MycobotTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()
# mc_topics.sub_set_angles()
pass

219
mecharm/mecharm_communication/scripts/mecharm_topics_pi.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import os
import sys
import signal
import threading
import rospy
from mycobot_communication.msg import (
MycobotAngles,
MycobotCoords,
MycobotSetAngles,
MycobotSetCoords,
MycobotGripperStatus,
MycobotPumpStatus,
)
from pymycobot import MyCobot
# from pymycobot import MyCobotSocket
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.创建一个返回的子线程。 父线程等待 KeyboardInterrupt
然后杀死子线程。
"""
self.child = os.fork()
if self.child == 0:
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 MycobotTopics(object):
def __init__(self):
super(MycobotTopics, self).__init__()
rospy.init_node("mycobot_topics_pi")
rospy.loginfo("start ...")
# problem
port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
baud = rospy.get_param("~baud", 1000000)
rospy.loginfo("%s,%s" % (port, baud))
# self.mc = MyCobotSocket(port, baud) # port
# self.mc.connect() #pi
self.mc = MyCobot(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("mycobot/angles_real", MycobotAngles, queue_size=5)
ma = MycobotAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.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]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5)
ma = MycobotCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mc.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,
]
sp = int(data.speed)
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"mycobot/angles_goal", MycobotSetAngles, 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]
sp = int(data.speed)
model = int(data.model)
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"mycobot/coords_goal", MycobotSetCoords, 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.mc.set_gripper_state(0, 80)
else:
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mc.set_basic_output(data.Pin1, 0)
self.mc.set_basic_output(data.Pin2, 0)
else:
self.mc.set_basic_output(data.Pin1, 1)
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"mycobot/pump_status", MycobotPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = MycobotTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()
# mc_topics.sub_set_angles()
pass

215
mecharm/mecharm_communication/scripts/mecharm_topics_seeed.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import os
import sys
import signal
import threading
import rospy
from mycobot_communication.msg import (
MycobotAngles,
MycobotCoords,
MycobotSetAngles,
MycobotSetCoords,
MycobotGripperStatus,
MycobotPumpStatus,
)
from pymycobot import MyCobot
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 MycobotTopics(object):
def __init__(self):
super(MycobotTopics, self).__init__()
rospy.init_node("mycobot_topics")
rospy.loginfo("start ...")
# problem
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mc = MyCobot(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("mycobot/angles_real", MycobotAngles, queue_size=5)
ma = MycobotAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.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]
pub.publish(ma)
time.sleep(0.25)
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5)
ma = MycobotCoords()
while not rospy.is_shutdown():
self.lock.acquire()
coords = self.mc.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,
]
sp = int(data.speed)
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"mycobot/angles_goal", MycobotSetAngles, 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]
sp = int(data.speed)
model = int(data.model)
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"mycobot/coords_goal", MycobotSetCoords, 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.mc.set_gripper_state(0, 80)
else:
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
)
rospy.spin()
def sub_pump_status(self):
def callback(data):
if data.Status:
self.mc.set_basic_output(data.Pin1, 0)
self.mc.set_basic_output(data.Pin2, 0)
else:
self.mc.set_basic_output(data.Pin1, 1)
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"mycobot/pump_status", MycobotPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = MycobotTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()
# mc_topics.sub_set_angles()
pass

9
mecharm/mecharm_communication/srv/GetAngles.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

9
mecharm/mecharm_communication/srv/GetCoords.srv Normal file
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---
float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz

5
mecharm/mecharm_communication/srv/GripperStatus.srv Normal file
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bool Status
---
bool Flag

7
mecharm/mecharm_communication/srv/PumpStatus.srv Normal file
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bool Status
int8 Pin1
int8 Pin2
---
bool Flag

12
mecharm/mecharm_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
int8 speed
---
bool Flag

13
mecharm/mecharm_communication/srv/SetCoords.srv Normal file
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float32 x
float32 y
float32 z
float32 rx
float32 ry
float32 rz
int8 speed
int8 model
---
bool Flag

22
mecharm/mecharm_moveit/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(mecharm_moveit)
find_package(catkin REQUIRED
rospy
std_msgs
moveit_msgs
)
catkin_package()
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/sync_plan.py
scripts/path_planning_and_obstacle_avoidance_demo.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
mecharm/mecharm_moveit/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.

18
mecharm/mecharm_moveit/config/chomp_planning.yaml Normal file
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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: 0.01
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearence: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: true
max_recovery_attempts: 5

11
mecharm/mecharm_moveit/config/fake_controllers.yaml Normal file
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controller_list:
- name: fake_arm_group_controller
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
# - joint6output_to_joint6

50
mecharm/mecharm_moveit/config/firefighter.srdf Normal file
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<?xml version="1.0" ?>
<!--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="arm_group">
<joint name="joint1_to_base" />
<joint name="joint2_to_joint1" />
<joint name="joint3_to_joint2" />
<joint name="joint4_to_joint3" />
<joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" />
<!-- <joint name="joint6output_to_joint6" /> -->
</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_pose" group="arm_group">
<joint name="joint1_to_base" value="0" />
<joint name="joint2_to_joint1" value="0" />
<joint name="joint3_to_joint2" value="0" />
<joint name="joint4_to_joint3" value="0" />
<joint name="joint5_to_joint4" value="0" />
<joint name="joint6_to_joint5" value="0" />
<!-- <joint name="joint6_to_joint5" value="0" />
<joint name="joint6output_to_joint6" 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="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" 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="link4" reason="Never" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
<disable_collisions link1="link1" link2="link4" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
<disable_collisions link1="link2" link2="link4" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
<disable_collisions link1="link4" link2="link6" reason="Never" />
<disable_collisions link1="link5" link2="link6" reason="Adjacent" />
</robot>

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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:
joint1_to_base:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2_to_joint1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3_to_joint2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4_to_joint3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5_to_joint4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6_to_joint5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
# joint6output_to_joint6:
# has_velocity_limits: false
# max_velocity: 0
# has_acceleration_limits: false
# max_acceleration: 0

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arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3

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planner_configs:
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
arm_group:
default_planner_config: RRTConnect
planner_configs:
- 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(joint2_to_joint1,joint3_to_joint2)
longest_valid_segment_fraction: 0.005

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# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm_group
joint_model_group_pose: init_pose
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- vitual_joint
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
# - joint6output_to_joint6
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
[]

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mecharm/mecharm_moveit/config/sensors_3d.yaml Normal file
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# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
- filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /head_mount_kinect/depth_registered/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

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mecharm/mecharm_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- CHOMP Plugin for MoveIt! -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find mecharm_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="$(find mecharm_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find mecharm_moveit)/launch/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>
<!-- 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="$(find mecharm_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mecharm_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mecharm_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mecharm_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mecharm_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<!-- 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="$(find mecharm_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mecharm_moveit)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mecharm_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="false"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[/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" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mecharm_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mecharm_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mecharm_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<!-- 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 file="$(find mecharm_moveit)/config/fake_controllers.yaml"/>
</launch>

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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 mecharm_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="urdf_path" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
respawn="false" output="screen" />
<include file="$(find mecharm_moveit)/launch/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>
<!-- 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="$(find mecharm_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mecharm_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mecharm_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mecharm_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mecharm_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<include file="$(find mecharm_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mecharm_moveit)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<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
" />
-->
<!-- Planning Functionality -->
<include ns="move_group" file="$(find mecharm_moveit)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find mecharm_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(find mecharm_moveit)/launch/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="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(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/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029
Tree Height: 195
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
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
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
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
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
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
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.0799999982
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.100000001
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: true
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: 0.200000003
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
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: false
Value: true
Velocity_Scaling_Factor: 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/XYOrbit
Distance: 1.39158678
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.113567002
Y: 0.105920002
Z: 2.23518001e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.0947966129
Target Frame: link1
Value: XYOrbit (rviz)
Yaw: 2.39357972
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 898
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 92
Y: 24

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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="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find mecharm_moveit)/launch/moveit.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find mecharm_moveit)/config/kinematics.yaml"/>
</node>
</launch>

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<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<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" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find mecharm_moveit)/config/ompl_planning.yaml"/>
</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="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mecharm_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mecharm_moveit)/config/joint_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mecharm_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 file="$(find mecharm_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mecharm_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/>
</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="$(find mecharm_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find mecharm_moveit)/launch/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="$(find mecharm_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mecharm_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="$(find mecharm_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mecharm_moveit)/launch/$(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=mecharm_moveit"
launch-prefix="$(arg launch_prefix)"
output="screen" />
</launch>

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<launch>
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- 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="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="firefighter" />
<include file="$(find mecharm_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
</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="$(find mecharm_moveit)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(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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<package>
<name>mecharm_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@elephantrobotics.com">zachary</author>
<maintainer email="weijian.wang@elephantrobotics.com">zachary</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>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>xacro</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> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend>
</package>

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy, roslib, sys
import moveit_commander
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
from geometry_msgs.msg import PoseStamped, Pose
from tf.transformations import euler_from_quaternion, quaternion_from_euler
class MoveItPlanningDemo:
def __init__(self):
# API to initialize move_group. 初始化move_group的API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node,初始化ROS节点
rospy.init_node("moveit_ik_demo")
# Initialize the scene object to listen for changes in the external environment
# 初始化场景对象，用来监听外部环境的变化
self.scene = moveit_commander.PlanningSceneInterface()
rospy.sleep(1)
# Initialize self.arm group in the robotic arm that needs to be controlled by move group
# 初始化需要使用move group控制的机械臂中的self.arm group
self.arm = moveit_commander.MoveGroupCommander("arm_group")
# Get the name of the terminal link. 获取终端link的名称
self.end_effector_link = self.arm.get_end_effector_link()
# Set the reference coordinate system used for the target position.
# 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1"
self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails.
# 当运动规划失败后，允许重新规划
self.arm.allow_replanning(True)
# Set the allowable error of position (unit: meter) and attitude (unit: radian).
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
self.arm.set_goal_position_tolerance(0.01)
self.arm.set_goal_orientation_tolerance(0.05)
def moving(self):
# Control the robotic arm to return to the initialization position first. 控制机械臂先回到初始化位置
self.arm.set_named_target("init_pose")
self.arm.go()
rospy.sleep(2)
# Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
# Pose is described by quaternion, based on base_link coordinate system
# 姿态使用四元数描述，基于base_link坐标系
target_pose = PoseStamped()
target_pose.header.frame_id = self.reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.132
target_pose.pose.position.y = -0.150
target_pose.pose.position.z = 0.075
target_pose.pose.orientation.x = 0.026
target_pose.pose.orientation.y = 1.0
target_pose.pose.orientation.z = 0.0
target_pose.pose.orientation.w = 0.014
# Set the current state of the robot arm as the initial state of motion. 设置机器臂当前的状态作为运动初始状态
self.arm.set_start_state_to_current_state()
# Set the target pose of the terminal motion of the robotic arm. 设置机械臂终端运动的目标位姿
self.arm.set_pose_target(target_pose, self.end_effector_link)
traj = self.arm.plan()
# Control the motion of the robotic arm according to the planned motion path. 按照规划的运动路径控制机械臂运动
self.arm.execute(traj)
rospy.sleep(1)
# Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
# 控制机械臂终端向右移动5cm 參数1是代表y， 0,1,2,3,4,5 代表xyzrpy
self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
# Control the end of the robotic arm to rotate 90 degrees in reverse, 0,1,2,3,4,5 represents xyzrpy
# 控制机械臂终端反向旋转90度, 0,1,2,3,4,5 代表xyzrpy
# self.arm.shift_pose_target(3, -1.57, end_effector_link)
# self.arm.go()
# rospy.sleep(1)
def run(self):
self.scene.remove_world_object("suit")
self.moving()
# Add the environment. 添加环境
quat = quaternion_from_euler(3.1415, 0, -1.57)
suit_post = PoseStamped()
suit_post.header.frame_id = self.reference_frame
suit_post.pose.position.x = 0.0
suit_post.pose.position.y = 0.0
suit_post.pose.position.z = -0.02
suit_post.pose.orientation.x = quat[0]
suit_post.pose.orientation.y = quat[1]
suit_post.pose.orientation.z = quat[2]
suit_post.pose.orientation.w = quat[3]
suit_path = (
roslib.packages.get_pkg_dir("mycobot_description")
+ "/urdf/mycobot/suit_env.dae"
)
# need `pyassimp==3.3`
self.scene.add_mesh("suit", suit_post, suit_path)
rospy.sleep(2)
# Run again if there is environmental impact. 有环境影响后再运行一次
self.moving()
# Close and exit moveit. 关闭并退出moveit
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
if __name__ == "__main__":
o = MoveItPlanningDemo()
o.run()

42
mecharm/mecharm_moveit/scripts/sync_plan.py Executable file
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#!/usr/bin/env python2
# encoding=utf-8
import time
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
# from pymycobot.mypalletizer import MyPalletizer
mc = None
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", data)
data_list = []
for index, value in enumerate(data.position):
# if index != 2:
# value *= -1
data_list.append(value)
# print("data_list:",data_list)
mc.send_radians(data_list, 80)
def listener():
global mc
rospy.init_node("mypal_reciver", anonymous=True)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
rospy.spin()
if __name__ == "__main__":
listener()

45
mecharm/mecharm_pi/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.0.2)
project(mecharm_pi)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
image_transport
cv_bridge
)
## 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/detect_marker.py
scripts/following_marker.py
scripts/follow_and_pump.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})
# find_package(OpenCV REQUIRED)
# add_executable(opencv_camera src/opencv_camera)
# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
# add_executable(camera_display src/camera_display)
# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

25
mecharm/mecharm_pi/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.

186
mecharm/mecharm_pi/config/mecharm_pi.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
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: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
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
- 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
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
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
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
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
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- 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: 1.3854260444641113
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
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: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.41979655623435974
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.7135875821113586
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 898
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002e8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002e8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005070000003efc0100000002fb0000000800540069006d00650100000000000005070000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1287
X: 254
Y: 43

216
mecharm/mecharm_pi/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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mecharm/mecharm_pi/launch/detect_marker.launch Normal file
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<launch>
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="true" />
<arg name="num" default="0" />
<include file="$(find mycobot_280)/launch/slider_control.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
</launch>

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mecharm/mecharm_pi/launch/detect_marker_with_topic.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="false" />
<arg name="num" default="0" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到 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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics ,mycobot-话题-->
<include file="$(find mycobot_communication)/launch/communication_topic.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles，坚听并发布真实的角度 -->
<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
</launch>

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mecharm/mecharm_pi/launch/follow.launch Normal file
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<launch>
<!-- Load file model .加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF .将值合并到 TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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mecharm/mecharm_pi/launch/simple_gui.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到 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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics, mycobot-话题-->
<include file="$(find mecharm_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实角度-->
<node name="real_listener" pkg="mecharm_pi" type="listen_real.py" />
<node name="simple_gui" pkg="mecharm_pi" type="simple_gui.py" />
</launch>

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mecharm/mecharm_pi/launch/slider_control.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF， 将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz，显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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mecharm/mecharm_pi/launch/teleop_keyboard.launch Normal file
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<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" />
<arg name="baud" default="1000000" />
<!-- Load file model ，加载文件模型-->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到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 $(arg rvizconfig)" required="true" />
<!-- mycobot-topics，mycobot-话题 -->
<include file="$(find mecharm_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实话题-->
<node name="real_listener" pkg="mecharm_pi" type="listen_real.py" />
</launch>

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mecharm/mecharm_pi/launch/test.launch Normal file
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<launch>
<!-- Load file model，加载文件模型 -->
<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz.显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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<?xml version="1.0"?>
<package format="2">
<name>mecharm_pi</name>
<version>0.0.0</version>
<description>The mecharm_pi package</description>
<author email="weijian.wang@elephantrobotics.com">WangWeiJian</author>
<maintainer email="weijian.wang@elephantrobotics.com">WangWeiJian</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>mecharm_communication</build_depend>
<build_export_depend>mecharm_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>mecharm_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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mecharm/mecharm_pi/scripts/detect_marker.py Normal file
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#!/usr/bin/env python
# -*- coding:utf-8 -*-
import rospy
import cv2 as cv
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
import tf
from tf.broadcaster import TransformBroadcaster
import tf_conversions
from mycobot_communication.srv import (
GetCoords,
SetCoords,
GetAngles,
SetAngles,
GripperStatus,
)
class ImageConverter:
def __init__(self):
self.br = TransformBroadcaster()
self.bridge = CvBridge()
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
self.aruo_params = cv.aruco.DetectorParameters_create()
calibrationParams = cv.FileStorage(
"calibrationFileName.xml", cv.FILE_STORAGE_READ
)
self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
self.camera_matrix = None
# subscriber, listen wether has img come in. 订阅者，监听是否有img进来
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
def callback(self, data):
"""Callback function.
Process image with OpenCV, detect Mark to get the pose. Then acccording the
pose to transforming.
"""
try:
# trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
size = cv_image.shape
focal_length = size[1]
center = [size[1] / 2, size[0] / 2]
if self.camera_matrix is None:
# calc the camera matrix, if don't have. 如果没有就计算相机矩阵
self.camera_matrix = np.array(
[
[focal_length, 0, center[0]],
[0, focal_length, center[1]],
[0, 0, 1],
],
dtype=np.float32,
)
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
# detect aruco marker. 检测 aruco 标记。
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
corners, ids = ret[0], ret[1]
# process marker data.
if len(corners) > 0:
if ids is not None:
# print('corners:', corners, 'ids:', ids)
# detect marker pose. 检测标记姿势
# argument:
# marker corners, 标记角
# marker size (meter), 标记尺寸（米）
ret = cv.aruco.estimatePoseSingleMarkers(
corners, 0.05, self.camera_matrix, self.dist_coeffs
)
(rvec, tvec) = (ret[0], ret[1])
(rvec - tvec).any()
print("rvec:", rvec, "tvec:", tvec)
# just select first one detected marker. 只需选择第一个检测到的标记
for i in range(rvec.shape[0]):
cv.aruco.drawDetectedMarkers(cv_image, corners)
cv.aruco.drawAxis(
cv_image,
self.camera_matrix,
self.dist_coeffs,
rvec[i, :, :],
tvec[i, :, :],
0.03,
)
xyz = tvec[0, 0, :]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
# get quaternion for ros. 为ros获取四元数
euler = rvec[0, 0, :]
tf_change = tf.transformations.quaternion_from_euler(
euler[0], euler[1], euler[2]
)
print("tf_change:", tf_change)
# trans pose according [joint1]
# 根据 [joint1] 变换姿势
self.br.sendTransform(
xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
)
# [x, y, z, -172, 3, -46.8]
cv.imshow("Image", cv_image)
cv.waitKey(3)
try:
pass
except CvBridgeError as e:
print(e)
if __name__ == "__main__":
try:
rospy.init_node("detect_marker")
rospy.loginfo("Starting cv_bridge_test node")
ImageConverter()
rospy.spin()
except KeyboardInterrupt:
print("Shutting down cv_bridge_test node.")
cv.destroyAllWindows()

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mecharm/mecharm_pi/scripts/follow_and_pump.py Normal file
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#!/usr/bin/env python2
# coding:utf-8
import rospy
from visualization_msgs.msg import Marker
import time
import os
# Type of message to communicate with mycobot
# 与 mycobot 通信的消息类型
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
rospy.init_node("gipper_subscriber", anonymous=True)
# Control the topic of mycobot, followed by angle, coordinates, gripper
# 控制mycobot的话题，依次是角度、坐标、夹爪
angle_pub = rospy.Publisher("mycobot/angles_goal",
MycobotSetAngles, queue_size=5)
coord_pub = rospy.Publisher("mycobot/coords_goal",
MycobotSetCoords, queue_size=5)
# Judging device: ttyUSB* is M5；ttyACM* is wio
# 判断设备：ttyUSB*为M5；ttyACM*为wio
robot = os.popen("ls /dev/ttyAMA*").readline()
if "dev" in robot:
Pin = [2, 5]
else:
Pin = [20, 21]
pump_pub = rospy.Publisher("mycobot/pump_status",
MycobotPumpStatus, queue_size=5)
# Instantiate the message object. 实例化消息对象
angles = MycobotSetAngles()
coords = MycobotSetCoords()
pump = MycobotPumpStatus()
# Deviation value from the real position of mycobot
# 与mycobot真实位置的偏差值
x_offset = -20
y_offset = 20
z_offset = 110
# With this variable limit, the fetching behavior is only done once
# 使用此变量限制，抓取行为仅执行一次
flag = False
# In order to compare whether the QR code moves later
# 为了比较二维码后面是否移动
temp_x = temp_y = temp_z = 0.0
temp_time = time.time()
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
"""Post coordinates 发布坐标"""
coords.x = x
coords.y = y
coords.z = z
coords.rx = rx
coords.ry = ry
coords.rz = rz
coords.speed = 70
coords.model = m
# print(coords)
coord_pub.publish(coords)
def pub_angles(a, b, c, d, e, f, sp):
"""Publishing angle. 发布角度"""
angles.joint_1 = float(a)
angles.joint_2 = float(b)
angles.joint_3 = float(c)
angles.joint_4 = float(d)
angles.joint_5 = float(e)
angles.joint_6 = float(f)
angles.speed = sp
angle_pub.publish(angles)
def pub_pump(flag, Pin):
"""Publish gripper status. 发布夹爪状态"""
pump.Status = flag
pump.Pin1 = Pin[0]
pump.Pin2 = Pin[1]
pump_pub.publish(pump)
def target_is_moving(x, y, z):
"""Determine whether the target moves. 判断目标是否移动"""
count = 0
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
print(o, n)
if abs(o - n) < 2:
count += 1
print(count)
if count == 3:
return False
return True
def grippercallback(data):
"""callback function. 回调函数"""
global flag, temp_x, temp_y, temp_z
# rospy.loginfo('gripper_subscriber get date :%s', data)
if flag:
return
# Parse out the coordinate value. 解析出坐标值
# pump length: 88mm
x = float(format(data.pose.position.x * 1000, ".2f"))
y = float(format(data.pose.position.y * 1000, ".2f"))
z = float(format(data.pose.position.z * 1000, ".2f"))
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
if (
time.time() - temp_time < 30
or (temp_x == temp_y == temp_z == 0.0)
or target_is_moving(x - x_offset, y - y_offset, z)
):
x -= x_offset
y -= y_offset
pub_coords(x - 20, y, 280)
time.sleep(0.1)
temp_x, temp_y, temp_z = x, y, z
return
else: # Indicates that the target is in a stationary state and can be attempted to grab. 表示目标处于静止状态，可以尝试抓取
print(x, y, z)
# detect heigth + pump height + limit height + offset
x += x_offset
y += y_offset
z = z + 88 + z_offset
pub_coords(x, y, z)
time.sleep(2.5)
# down
for i in range(1, 17):
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
time.sleep(0.1)
time.sleep(2)
pub_pump(True, Pin)
# pump on
pub_coords(x, y, z + 20, -165)
time.sleep(1.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
put_z = 140
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
time.sleep(1.5)
for i in range(1, 8):
pub_coords(39.4, -174.7, put_z - i * 5, -
177.13, -4.13, -152.59, 15, 2)
time.sleep(0.1)
pub_pump(False, Pin)
time.sleep(0.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
# finally
flag = True
def main():
for _ in range(10):
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
pub_angles(0, 30, -50, -40, 0, 0, 50)
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
time.sleep(0.5)
pub_pump(False, Pin)
# time.sleep(2.5)
# subscribers to mark information, mark信息的订阅者
rospy.Subscriber("visualization_marker", Marker,
grippercallback, queue_size=1)
print("gripper test")
rospy.spin()
if __name__ == "__main__":
main()

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mecharm/mecharm_pi/scripts/follow_display.py Normal file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.mycobot import MyCobot
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mecharm...")
port = rospy.get_param("~port", "/dev/ttyAMA0")
baud = rospy.get_param("~baud", 1000000)
print("port: {}, baud: {}\n".format(port, baud))
try:
mycobot = MyCobot(port, baud)
except Exception as e:
print(e)
print(
"""\
\rTry connect mecharm failed!
\rPlease check wether connected with MyCobot.
\rPlease chckt wether the port or baud is right.
"""
)
exit(1)
mycobot.release_all_servos()
time.sleep(0.1)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(30) # 30hz
# pub joint state. 发布关节状态
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
marker_ = Marker()
marker_.header.frame_id = "/base"
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
angles = mycobot.get_radians()
data_list = []
for index, value in enumerate(angles):
data_list.append(value)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
# data_list.insert(3,0.0)
print(joint_state_send.position)
pub.publish(joint_state_send)
coords = mycobot.get_coords()
# 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. 标记初始位置
# print(coords)
if not coords:
# coords = [0, 0, 0, 0, 0 ]
coords = [0, 0, 0, 0, 0, 0]
rospy.loginfo("error [101]: can not get coord values")
marker_.pose.position.x = coords[1] / 1000 * -1
marker_.pose.position.y = coords[0] / 1000
marker_.pose.position.z = coords[2] / 1000
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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mecharm/mecharm_pi/scripts/following_marker.py Normal file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
import tf
def talker():
rospy.init_node("following_marker", anonymous=True)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(20)
listener = tf.TransformListener()
marker_ = Marker()
marker_.header.frame_id = "/joint1"
marker_.ns = "basic_cube"
print("publishing ...")
while not rospy.is_shutdown():
now = rospy.Time.now() - rospy.Duration(0.1)
try:
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
except Exception as e:
print(e)
continue
print(type(trans), trans)
print(type(rot), rot)
# marker 标记
marker_.header.stamp = now
marker_.type = marker_.CUBE
marker_.action = marker_.ADD
marker_.scale.x = 0.04
marker_.scale.y = 0.04
marker_.scale.z = 0.04
# marker position initial. 标记初始位置
marker_.pose.position.x = trans[0]
marker_.pose.position.y = trans[1]
marker_.pose.position.z = trans[2]
marker_.pose.orientation.x = rot[0]
marker_.pose.orientation.y = rot[1]
marker_.pose.orientation.z = rot[2]
marker_.pose.orientation.w = rot[3]
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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mecharm/mecharm_pi/scripts/listen_real.py Normal file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
# 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=10)
rate = rospy.Rate(30) # 30hz
# pub joint state 发布关节状态
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
]
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.
# 从服务获取真实的角度
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. 发布角度
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

67
mecharm/mecharm_pi/scripts/listen_real_of_topic.py Executable file
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#!/usr/bin/env python2
# -*- coding:utf-8 -*-
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. 初始化发布者
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
# init subscriber. 初始化订阅者
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.
# 初始化发布者对象
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint1_to_base",
"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. 处理回调数据
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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