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Add English annotation

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wangWking 2022-03-14 15:03:52 +08:00
parent 7635c92af3
commit 3a736bda49
4 changed files with 7 additions and 5 deletions
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4
mypalletizer_260/launch/follow.launch
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@ -1,11 +1,11 @@
<launch> <launch>
<!-- Load file model ，加载文件模型--> <!-- Load file model .加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/> <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" /> <arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到 TF--> <!-- Combinejoin values to TF .将值合并到 TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" > <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node> </node>

2
mypalletizer_260/launch/simple_gui.launch
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@ -9,7 +9,7 @@
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF,将值合并到 TF--> <!-- Combinejoin values to TF，将值合并到 TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz --> <!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

3
mypalletizer_260/scripts/listen_real.py
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@ -38,7 +38,8 @@ def talker():
rospy.loginfo("start loop ...") rospy.loginfo("start loop ...")
while not rospy.is_shutdown(): while not rospy.is_shutdown():
# get real angles from server. 从服务获取真实的角度 # get real angles from server.
# 从服务获取真实的角度
res = func() res = func()
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
continue continue

3
mypalletizer_260/scripts/simple_gui.py
View file

@ -105,7 +105,8 @@ class Window:
tk.Label(self.frmRT, text=" rx ").grid(row=3) tk.Label(self.frmRT, text=" rx ").grid(row=3)
# Set the default value of the input box. 设置输入框的默认值 # Set the default value of the input box.
# 设置输入框的默认值
self.j1_default = tk.StringVar() self.j1_default = tk.StringVar()
self.j1_default.set(self.res_angles[0]) self.j1_default.set(self.res_angles[0])
self.j2_default = tk.StringVar() self.j2_default = tk.StringVar()