From 36af40a7f18b791258a549b273aa2e7e2c543cfc Mon Sep 17 00:00:00 2001
From: weijian <weijian.wang@elephantrobotics.com>
Date: Tue, 13 Jun 2023 14:00:28 +0800
Subject: [PATCH] add aikit-320 ros

---
 .../launch/communication_topic_pi.launch                 | 2 +-
 .../scripts/mycobot_topics_pi.py                         | 6 ++----
 mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz         | 9 +++++++++
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/mycobot_320/mycobot_320_communication/launch/communication_topic_pi.launch b/mycobot_320/mycobot_320_communication/launch/communication_topic_pi.launch
index 176f231..a623b6c 100644
--- a/mycobot_320/mycobot_320_communication/launch/communication_topic_pi.launch
+++ b/mycobot_320/mycobot_320_communication/launch/communication_topic_pi.launch
@@ -4,7 +4,7 @@
 	<arg name="baud" default="115200" />
 
 	<!-- Open communication service --><!-- 开启通讯服务 -->
-	<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics_pi.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_320_communication" type="mycobot_topics_pi.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     	</node>
diff --git a/mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py b/mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
index 935cef3..ecce12f 100644
--- a/mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
+++ b/mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
@@ -19,8 +19,7 @@ from mycobot_communication.msg import (
 
 
 
-from pymycobot import MyCobotSocket
-
+from pymycobot import MyCobot
 
 class Watcher:
     """this class solves two problems with multithreaded
@@ -77,8 +76,7 @@ class MycobotTopics(object):
         port = rospy.get_param("~port", "/dev/ttyAMA0")
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
-        self.mc = MyCobotSocket(port, baud) # port
-        self.mc.connect()   #pi
+        self.mc = MyCobot(port, baud) # port
         self.lock = threading.Lock()
 
     def start(self):
diff --git a/mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz b/mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz
index c14d986..9495419 100644
--- a/mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz
+++ b/mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz
@@ -9,6 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
         - /TF1/Tree1
+        - /Marker1
       Splitter Ratio: 0.5
     Tree Height: 603
   - Class: rviz/Selection
@@ -152,6 +153,14 @@ Visualization Manager:
                       {}
       Update Interval: 0
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: cube
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48