update myArm

2026-07-05 19:47:04 +00:00 · 2023-05-26 17:46:55 +08:00 · 2023-05-26 17:46:55 +08:00 · 3ba7cfb126
commit 3ba7cfb126
parent ef1e66915b
12 changed files with 55 additions and 256 deletions
--- a/myArm/myarm/config/ai_mycobot_pi.rviz
+++ b/myArm/myarm/config/ai_mycobot_pi.rviz
@ -1,226 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /TF1
-        - /Marker1
-      Splitter Ratio: 0.5
-    Tree Height: 582
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        env:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6_flange:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        env:
-          Value: true
-        joint1:
-          Value: true
-        joint2:
-          Value: true
-        joint3:
-          Value: true
-        joint4:
-          Value: true
-        joint5:
-          Value: true
-        joint6:
-          Value: true
-        joint6_flange:
-          Value: true
-      Marker Alpha: 1
-      Marker Scale: 0.30000001192092896
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        joint1:
-          env:
-            {}
-          joint2:
-            joint3:
-              joint4:
-                joint5:
-                  joint6:
-                    joint6_flange:
-                      {}
-      Update Interval: 0
-      Value: true
-    - Class: rviz/Marker
-      Enabled: true
-      Marker Topic: cube
-      Name: Marker
-      Namespaces:
-        cube: true
-      Queue Size: 100
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: joint1
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 1.2028908729553223
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.7853981852531433
-      Focal Point:
-        X: -0.07064759731292725
-        Y: -0.0814988762140274
-        Z: 0.10758385062217712
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44039833545684814
-      Target Frame: <Fixed Frame>
-      Yaw: 0.43038973212242126
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 888
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002d5fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002d5000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002d5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002d5000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069f0000003efc0100000002fb0000000800540069006d006501000000000000069f000003d000fffffffb0000000800540069006d0065010000000000000450000000000000000000000367000002d500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1695
-  X: 222
-  Y: 28
--- a/myArm/myarm/launch/detect_marker.launch
+++ b/myArm/myarm/launch/detect_marker.launch
@ -1,12 +1,12 @@
 <launch>
 	<!-- Load file model ，加载文件模型-->
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myarm)/config/mycobot_with_marker.rviz" />
 	<arg name="gui" default="true" />

 	<arg name="num" default="0" />

-    <include file="$(find mycobot_280)/launch/slider_control.launch">
+    <include file="$(find myarm)/launch/slider_control.launch">
 		<arg name="model" value="$(arg model)" />
 		<arg name="rvizconfig" value="$(arg rvizconfig)" />
 		<arg name="gui" value="$(arg gui)" />
--- a/myArm/myarm/launch/mycobot_follow.launch
+++ b/myArm/myarm/launch/mycobot_follow.launch
@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF file,加载URDF文件 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myarm)/config/myarm.rviz" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 	<!-- Combinejoin values to TF ，将值合并到TF-->
--- a/myArm/myarm/launch/simple_gui.launch
+++ b/myArm/myarm/launch/simple_gui.launch
@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />

-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myarm)/config/myarm.rviz" />
 	<arg name="gui" default="false" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

-    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+    <include file="$(find myarm_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
    </include>
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
-	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
+	<node name="real_listener" pkg="myarm" type="listen_real.py" />
+	<node name="simple_gui" pkg="myarm" type="simple_gui.py" />
 </launch>
--- a/myArm/myarm/launch/slider_control.launch
+++ b/myArm/myarm/launch/slider_control.launch
@ -2,8 +2,8 @@
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
 	<!-- Load file model ，加载文件模型-->	
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myarm)/config/myarm.rviz" />
 	<arg name="gui" default="true" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
--- a/myArm/myarm/launch/teleop_keyboard.launch
+++ b/myArm/myarm/launch/teleop_keyboard.launch
@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />

-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myarm)/config/myarm.rviz" />
 	<arg name="gui" default="false" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

-    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+    <include file="$(find myarm_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
    </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<node name="real_listener" pkg="myarm" type="listen_real.py" />
 </launch>
--- a/myArm/myarm/scripts/follow_display.py
+++ b/myArm/myarm/scripts/follow_display.py
@ -6,7 +6,7 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker

-from pymycobot.mycobot import MyCobot
+from pymycobot.myarm import MyArm


 def talker():
@ -17,7 +17,7 @@ def talker():
    baud = rospy.get_param("~baud", 115200)
    print("port: {}, baud: {}\n".format(port, baud))
    try:
-        mycobot = MyCobot(port, baud)
+        mycobot = MyArm(port, baud)
    except Exception as e:
        print(e)
        print(
@ -41,18 +41,19 @@ def talker():
    joint_state_send.header = Header()

    joint_state_send.name = [
+        "joint1_to_base",
        "joint2_to_joint1",
        "joint3_to_joint2",
        "joint4_to_joint3",
        "joint5_to_joint4",
        "joint6_to_joint5",
-        "joint6output_to_joint6",
+        "joint7_to_joint6",
    ]
    joint_state_send.velocity = [0]
    joint_state_send.effort = []

    marker_ = Marker()
-    marker_.header.frame_id = "/joint1"
+    marker_.header.frame_id = "/base"
    marker_.ns = "my_namespace"

    print("publishing ...")
--- a/myArm/myarm/scripts/following_marker.py
+++ b/myArm/myarm/scripts/following_marker.py
@ -17,7 +17,7 @@ def talker():
    listener = tf.TransformListener()

    marker_ = Marker()
-    marker_.header.frame_id = "/joint1"
+    marker_.header.frame_id = "/base"
    marker_.ns = "basic_cube"

    print("publishing ...")
@ -25,7 +25,7 @@ def talker():
        now = rospy.Time.now() - rospy.Duration(0.1)

        try:
-            trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
+            trans, rot = listener.lookupTransform("base", "basic_shapes", now)
        except Exception as e:
            print(e)
            continue
--- a/myArm/myarm/scripts/listen_real.py
+++ b/myArm/myarm/scripts/listen_real.py
@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf-8
 # license removed for brevity
 import time
@ -21,12 +21,13 @@ def talker():
    joint_state_send.header = Header()

    joint_state_send.name = [
+        "joint1_to_base",
        "joint2_to_joint1",
        "joint3_to_joint2",
        "joint4_to_joint3",
        "joint5_to_joint4",
        "joint6_to_joint5",
-        "joint6output_to_joint6",
+        "joint7_to_joint6",
    ]
    joint_state_send.velocity = [0]
    joint_state_send.effort = []
@ -49,6 +50,7 @@ def talker():
            res.joint_4 * (math.pi / 180),
            res.joint_5 * (math.pi / 180),
            res.joint_6 * (math.pi / 180),
+            res.joint_7 * (math.pi / 180),
        ]
        rospy.loginfo("res: {}".format(radians_list))

--- a/myArm/myarm/scripts/listen_real_of_topic.py
+++ b/myArm/myarm/scripts/listen_real_of_topic.py
@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf-8

 import math
@ -31,12 +31,13 @@ class Listener(object):
        joint_state_send.header = Header()

        joint_state_send.name = [
+            "joint1_to_base",
            "joint2_to_joint1",
            "joint3_to_joint2",
            "joint4_to_joint3",
            "joint5_to_joint4",
            "joint6_to_joint5",
-            "joint6output_to_joint6",
+            "joint7_to_joint6",
        ]
        joint_state_send.velocity = [0]
        joint_state_send.effort = []
@ -50,6 +51,7 @@ class Listener(object):
            data.joint_4 * (math.pi / 180),
            data.joint_5 * (math.pi / 180),
            data.joint_6 * (math.pi / 180),
+            data.joint_7 * (math.pi / 180),
        ]
        rospy.loginfo("res: {}".format(radians_list))

--- a/myArm/myarm/scripts/simple_gui.py
+++ b/myArm/myarm/scripts/simple_gui.py
@ -102,6 +102,7 @@ class Window:
        tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
        tk.Label(self.frmLT, text="Joint 5 ").grid(row=4)
        tk.Label(self.frmLT, text="Joint 6 ").grid(row=5)
+        tk.Label(self.frmLT, text="Joint 7 ").grid(row=6)

        tk.Label(self.frmRT, text=" x ").grid(row=0)
        tk.Label(self.frmRT, text=" y ").grid(row=1)  # the second row,第二行
@ -123,6 +124,9 @@ class Window:
        self.j5_default.set(self.res_angles[4])
        self.j6_default = tk.StringVar()
        self.j6_default.set(self.res_angles[5])
+        self.j7_default = tk.StringVar()
+        self.j7_default.set(self.res_angles[6])
+

        self.x_default = tk.StringVar()
        self.x_default.set(self.record_coords[0])
@ -150,6 +154,8 @@ class Window:
        self.J_5.grid(row=4, column=1, pady=3)
        self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default)
        self.J_6.grid(row=5, column=1, pady=3)
+        self.J_7 = tk.Entry(self.frmLT, textvariable=self.j7_default)
+        self.J_7.grid(row=5, column=1, pady=3)

        # coord input box,coord 输入框
        self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
@ -166,7 +172,7 @@ class Window:
        self.rz.grid(row=5, column=1, pady=3)

        # All input boxes, used to get the input data,所有输入框，用于拿输入的数据
-        self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6]
+        self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6, self.J_7]
        self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]

        # speed input box,速度输入框
@ -185,6 +191,7 @@ class Window:
        tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
        tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
        tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
+        tk.Label(self.frmLC, text="Joint 7 ").grid(row=6)

        # get数据

@ -201,6 +208,8 @@ class Window:
        self.cont_5.set(str(self.res_angles[4]) + "°")
        self.cont_6 = tk.StringVar(self.frmLC)
        self.cont_6.set(str(self.res_angles[5]) + "°")
+        self.cont_7 = tk.StringVar(self.frmLC)
+        self.cont_7.set(str(self.res_angles[6]) + "°")
        self.cont_all = [
            self.cont_1,
            self.cont_2,
@ -208,6 +217,7 @@ class Window:
            self.cont_4,
            self.cont_5,
            self.cont_6,
+            self.cont_7,
            self.speed,
            self.model,
        ]
@ -261,6 +271,14 @@ class Window:
            height=1,
            bg="white",
        ).grid(row=5, column=1, padx=5, pady=5)
+        self.show_j7 = tk.Label(
+            self.frmLC,
+            textvariable=self.cont_7,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=5, column=1, padx=5, pady=5)

        self.all_jo = [
            self.show_j1,
@ -269,6 +287,7 @@ class Window:
            self.show_j4,
            self.show_j5,
            self.show_j6,
+            self.show_j7,
        ]

        # show,显示
@ -444,6 +463,7 @@ class Window:
            round(self.angles.joint_4, 2),
            round(self.angles.joint_5, 2),
            round(self.angles.joint_6, 2),
+            round(self.angles.joint_7, 2),
        ]
        # print('coord:',self.record_coords)
        # print('angles:',self.res_angles)
--- a/myArm/myarm/scripts/slider_control.py
+++ b/myArm/myarm/scripts/slider_control.py
@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3

 """[summary]
 This file obtains the joint angle of the manipulator in ROS,
@ -12,7 +12,7 @@ Passable parameters:
 import rospy
 from sensor_msgs.msg import JointState

-from pymycobot.mycobot import MyCobot
+from pymycobot.myarm import MyArm


 mc = None
@ -37,7 +37,7 @@ def listener():
    port = rospy.get_param("~port", "/dev/ttyUSB0")
    baud = rospy.get_param("~baud", 115200)
    print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyArm(port, baud)

    # spin() simply keeps python from exiting until this node is stopped
    # spin()只是阻止python退出，直到该节点停止