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add aikit-320 ros

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This commit is contained in:
weijian 2023-06-13 14:39:18 +08:00
parent 383a82f5e6
commit 2d590cc13c
1 changed files with 4 additions and 2 deletions
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6
mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
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@ -152,9 +152,11 @@ class MycobotTopics(object):
ma = MycobotAngles() ma = MycobotAngles()
while not rospy.is_shutdown(): while not rospy.is_shutdown():
if self.mc: if self.mc:
self.lock.acquire() # self.lock.acquire()
lock = acquire("/tmp/mycobot_lock")
angles = self.mc.get_angles() angles = self.mc.get_angles()
self.lock.release() release(lock)
# self.lock.release()
if angles: if angles:
ma.joint_1 = angles[0] ma.joint_1 = angles[0]
ma.joint_2 = angles[1] ma.joint_2 = angles[1]