From 3244f0246c4b1c14c24cf720fc2faa9b330105ed Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 18:15:22 +0800 Subject: [PATCH 1/7] fix bug --- .../mypalletizer_260_pi/scripts/follow_display.py | 4 ++-- .../mypalletizer_260_pi/scripts/slider_control.py | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/mypalletizer_260/mypalletizer_260_pi/scripts/follow_display.py b/mypalletizer_260/mypalletizer_260_pi/scripts/follow_display.py index 15576dc..4fe8741 100644 --- a/mypalletizer_260/mypalletizer_260_pi/scripts/follow_display.py +++ b/mypalletizer_260/mypalletizer_260_pi/scripts/follow_display.py @@ -15,8 +15,8 @@ def talker(): rospy.init_node("display", anonymous=True) print("Try connect real mypal...") - port = rospy.get_param("~port", "/dev/ttyUSB0") - baud = rospy.get_param("~baud", 115200) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) print("port: {}, baud: {}\n".format(port, baud)) try: mypa = MyPalletizer(port, baud) diff --git a/mypalletizer_260/mypalletizer_260_pi/scripts/slider_control.py b/mypalletizer_260/mypalletizer_260_pi/scripts/slider_control.py index 5f8cfb0..787e4ed 100644 --- a/mypalletizer_260/mypalletizer_260_pi/scripts/slider_control.py +++ b/mypalletizer_260/mypalletizer_260_pi/scripts/slider_control.py @@ -26,7 +26,7 @@ def callback(data): data_list = [] for index, value in enumerate(data.position): data_list.append(value) - del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！ + # del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！ # data_list[3] = data_list[4] # print(data_list) mc.send_radians(data_list, 80) @@ -38,8 +38,8 @@ def listener(): 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) + port = rospy.get_param("~port", "/dev/ttyAMA0") # Select connected device. 选择连接设备 + baud = rospy.get_param("~baud", 1000000) print(port, baud) mc = MyPalletizer(port, baud) From 0a0e02847a6d9709163ffd7c876dbc08dd977d4a Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 18:17:54 +0800 Subject: [PATCH 2/7] fix urdf --- mycobot_description/urdf/260_pi/mypal_260_pi.urdf | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf index a093a8e..a5bdd3c 100644 --- a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf +++ b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf @@ -94,6 +94,7 @@ + @@ -135,9 +136,9 @@ - - - + + + From 0b7cd5b2043b59ae8708586349b1578b3cea8af1 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 18:28:28 +0800 Subject: [PATCH 3/7] fix bug --- .../mypalletizer_260_pi/config/mypal_260_pi.rviz | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz b/mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz index 007a0cc..1af0496 100644 --- a/mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz +++ b/mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz @@ -7,6 +7,7 @@ Panels: - /Global Options1 - /Status1 - /RobotModel1 + - /RobotModel1/Status1 - /TF1 Splitter Ratio: 0.5 Tree Height: 645 @@ -170,10 +171,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 0.120398536 + Pitch: 0.300398558 Target Frame: Value: Orbit (rviz) - Yaw: 2.79040861 + Yaw: 1.56040955 Saved: ~ Window Geometry: Displays: From 2ab2be32ca282458fde71ec3e7558859238e46c9 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 12 May 2022 16:30:25 +0800 Subject: [PATCH 4/7] update 260pi urdf --- mycobot_description/urdf/260_pi/mypal_260_pi.urdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf index a5bdd3c..6a15de3 100644 --- a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf +++ b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf @@ -130,7 +130,7 @@ - + From f316e6898c1719a227ac338e90e5a47bf0008dec Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 13 May 2022 09:17:05 +0800 Subject: [PATCH 5/7] add encoding=utf-8 --- mycobot_communication/scripts/mycobot_services.py | 1 + mycobot_communication/scripts/mycobot_topics_jsnn.py | 0 mycobot_communication/scripts/mycobot_topics_pi.py | 0 mycobot_communication/scripts/mycobot_topics_seeed.py | 0 4 files changed, 1 insertion(+) mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_jsnn.py mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_pi.py mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_seeed.py diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index 27ebdc2..4a628fd 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import rospy from mycobot_communication.srv import * diff --git a/mycobot_communication/scripts/mycobot_topics_jsnn.py b/mycobot_communication/scripts/mycobot_topics_jsnn.py old mode 100644 new mode 100755 diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py old mode 100644 new mode 100755 diff --git a/mycobot_communication/scripts/mycobot_topics_seeed.py b/mycobot_communication/scripts/mycobot_topics_seeed.py old mode 100644 new mode 100755 From 2962874024e09effdb1530f0dca9f3913b37c1b5 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 13 May 2022 18:09:18 +0800 Subject: [PATCH 6/7] fix keyboard_control bug --- mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py b/mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py index c712a80..bf0a6d2 100644 --- a/mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py +++ b/mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py @@ -139,8 +139,10 @@ def teleop_keyboard(): switch_gripper(False) elif key == "1": rsp = set_angles(*init_pose) + record_coords = [res.x, res.y, res.z, res.rx, speed, model] elif key in "2": rsp = set_angles(*home_pose) + record_coords = [res.x, res.y, res.z, res.rx, speed, model] elif key in "3": rep = get_angles() home_pose[0] = rep.joint_1 From d4ccf6bc0f1091fb8775714bfbf5e89b3cabee86 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 13 May 2022 18:11:24 +0800 Subject: [PATCH 7/7] fix keyboard_control bug --- mypalletizer_260/mypalletizer_260/scripts/teleop_keyboard.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mypalletizer_260/mypalletizer_260/scripts/teleop_keyboard.py b/mypalletizer_260/mypalletizer_260/scripts/teleop_keyboard.py index a2fdf82..a1ff7cb 100644 --- a/mypalletizer_260/mypalletizer_260/scripts/teleop_keyboard.py +++ b/mypalletizer_260/mypalletizer_260/scripts/teleop_keyboard.py @@ -138,8 +138,10 @@ def teleop_keyboard(): switch_gripper(False) elif key == "1": rsp = set_angles(*init_pose) + record_coords = [res.x, res.y, res.z, res.rx, speed, model] elif key in "2": rsp = set_angles(*home_pose) + record_coords = [res.x, res.y, res.z, res.rx, speed, model] elif key in "3": rep = get_angles() home_pose[0] = rep.joint_1