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add aikit-320 ros

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weijian 2023-06-13 14:00:28 +08:00
parent dd69b52bf6
commit 36af40a7f1
3 changed files with 12 additions and 5 deletions
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2
mycobot_320/mycobot_320_communication/launch/communication_topic_pi.launch
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@ -4,7 +4,7 @@
<arg name="baud" default="115200" /> <arg name="baud" default="115200" />
<!-- Open communication service --><!-- 开启通讯服务 --> <!-- 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="$(arg port)" /> <param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" /> <param name="baud" type="int" value="$(arg baud)" />
</node> </node>

6
mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
View file

@ -19,8 +19,7 @@ from mycobot_communication.msg import (
from pymycobot import MyCobotSocket from pymycobot import MyCobot
class Watcher: class Watcher:
"""this class solves two problems with multithreaded """this class solves two problems with multithreaded
@ -77,8 +76,7 @@ class MycobotTopics(object):
port = rospy.get_param("~port", "/dev/ttyAMA0") port = rospy.get_param("~port", "/dev/ttyAMA0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud)) rospy.loginfo("%s,%s" % (port, baud))
self.mc = MyCobotSocket(port, baud) # port self.mc = MyCobot(port, baud) # port
self.mc.connect() #pi
self.lock = threading.Lock() self.lock = threading.Lock()
def start(self): def start(self):

9
mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz
View file

@ -9,6 +9,7 @@ Panels:
- /RobotModel1 - /RobotModel1
- /TF1 - /TF1
- /TF1/Tree1 - /TF1/Tree1
- /Marker1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 603 Tree Height: 603
- Class: rviz/Selection - Class: rviz/Selection
@ -152,6 +153,14 @@ Visualization Manager:
{} {}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: cube
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48