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add aikit-320 ros

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This commit is contained in:
weijian 2023-06-13 14:34:43 +08:00
parent 452edcaebb
commit 383a82f5e6
1 changed files with 25 additions and 19 deletions
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44
mycobot_320/mycobot_320_communication/scripts/mycobot_topics_pi.py
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@ -151,9 +151,10 @@ class MycobotTopics(object):
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 self.mc:
self.lock.acquire()
angles = self.mc.get_angles()
self.lock.release()
if angles:
ma.joint_1 = angles[0]
ma.joint_2 = angles[1]
@ -172,10 +173,11 @@ class MycobotTopics(object):
while not rospy.is_shutdown():
# self.lock.acquire()
lock = acquire("/tmp/mycobot_lock")
coords = self.mc.get_coords()
# self.lock.release()
release(lock)
if self.mc:
lock = acquire("/tmp/mycobot_lock")
coords = self.mc.get_coords()
# self.lock.release()
release(lock)
if coords:
ma.x = coords[0]
ma.y = coords[1]
@ -199,9 +201,10 @@ class MycobotTopics(object):
data.joint_6,
]
sp = int(data.speed)
lock = acquire("/tmp/mycobot_lock")
self.mc.send_angles(angles, sp)
release(lock)
if self.mc:
lock = acquire("/tmp/mycobot_lock")
self.mc.send_angles(angles, sp)
release(lock)
sub = rospy.Subscriber(
"mycobot/angles_goal", MycobotSetAngles, callback=callback
@ -213,9 +216,10 @@ class MycobotTopics(object):
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
sp = int(data.speed)
model = int(data.model)
lock = acquire("/tmp/mycobot_lock")
self.mc.send_coords(angles, sp, model)
release(lock)
if self.mc:
lock = acquire("/tmp/mycobot_lock")
self.mc.send_coords(angles, sp, model)
release(lock)
sub = rospy.Subscriber(
"mycobot/coords_goal", MycobotSetCoords, callback=callback
@ -227,13 +231,15 @@ class MycobotTopics(object):
"""订阅夹爪状态"""
def callback(data):
if data.Status:
lock = acquire("/tmp/mycobot_lock")
self.mc.set_gripper_state(0, 80)
release(lock)
if self.mc:
lock = acquire("/tmp/mycobot_lock")
self.mc.set_gripper_state(0, 80)
release(lock)
else:
lock = acquire("/tmp/mycobot_lock")
self.mc.set_gripper_state(1, 80)
release(lock)
if self.mc:
lock = acquire("/tmp/mycobot_lock")
self.mc.set_gripper_state(1, 80)
release(lock)
sub = rospy.Subscriber(
"mycobot/gripper_status", MycobotGripperStatus, callback=callback