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https://github.com/elephantrobotics/mycobot_ros.git
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And English annotation
This commit is contained in:
wangWking
parent
ccdfb623ea
commit
46ceca5178
16 changed files with 107 additions and 78 deletions
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@ -1,4 +1,5 @@
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<launch>
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
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<arg name="gui" default="true" />
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@ -10,6 +11,7 @@
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<arg name="rvizconfig" value="$(arg rvizconfig)" />
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<arg name="gui" value="$(arg gui)" />
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</include>
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<!-- vision node -->
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<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
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<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
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<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
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@ -1,7 +1,9 @@
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<launch>
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<!-- Select connecting device and serial port ，选择连接设备及串口-->
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
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<arg name="gui" default="false" />
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@ -10,17 +12,17 @@
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<!-- Combinejoin values to TF，将值合并到 TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- mycobot-topics -->
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<!-- mycobot-topics ,mycobot-话题-->
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<include file="$(find mycobot_communication)/launch/communication_topic.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles -->
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<!-- listen and pub the real angles，坚听并发布真实的角度 -->
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<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
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<!-- vision node -->
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<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
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@ -1,11 +1,14 @@
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<launch>
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF ，将值合并到 TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
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<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
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</node>
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -1,22 +1,24 @@
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<launch>
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<!-- Select connecting device and serial port ，选择连接设备及串口-->
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
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<arg name="gui" default="false" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<!-- Combinejoin values to TF ，将值合并到 TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- mycobot-topics， mycobot-话题-->
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<include file="$(find mypalletizer_communication)/launch/communication_service.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles ，监听并发布真实角度-->
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<node name="real_listener" pkg="mypalletizer_260" type="listen_real.py" />
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<node name="simple_gui" pkg="mypalletizer_260" type="simple_gui.py" />
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</launch>
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@ -1,14 +1,15 @@
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<launch>
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<!-- <arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" /> -->
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<!-- Combinejoin values to TF， 将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<!-- <param name="use_gui" value="$(arg gui)" /> -->
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@ -19,6 +20,6 @@
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<param name="port" type="string" value="$(arg port)" />
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<param name="baud" type="int" value="$(arg baud)" />
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</node> -->
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<!-- Show in Rviz -->
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<!-- Show in Rviz，显示在Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -1,7 +1,9 @@
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<launch>
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<!-- Select connecting device and serial port ，选择连接设备及串口-->
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<!-- Load file model ，加载文件模型-->
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<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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@ -10,14 +12,17 @@
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<!-- Combinejoin values to TF ，将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- mycobot-topics，mycobot-话题 -->
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<include file="$(find mypalletizer_communication)/launch/communication_service.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles ，监听并发布真实话题-->
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<node name="real_listener" pkg="mypalletizer_260" type="listen_real.py" />
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</launch>
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@ -1,16 +1,17 @@
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<launch>
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<!-- Load file model，加载文件模型 -->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<!-- Combinejoin values to TF ，将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Show in Rviz -->
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<!-- Show in Rviz，显示在Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -27,7 +27,7 @@ class ImageConverter:
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)
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self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
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self.camera_matrix = None
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# subscriber, listen wether has img come in.
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# subscriber, listen wether has img come in. 订阅者，监听是否有img进来
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self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
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def callback(self, data):
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@ -37,7 +37,7 @@ class ImageConverter:
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pose to transforming.
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"""
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try:
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# trans `rgb` to `gbr` for opencv.
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# trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
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cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
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except CvBridgeError as e:
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print(e)
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@ -45,7 +45,7 @@ class ImageConverter:
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focal_length = size[1]
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center = [size[1] / 2, size[0] / 2]
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if self.camera_matrix is None:
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# calc the camera matrix, if don't have.
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# calc the camera matrix, if don't have. 如果没有就计算相机矩阵
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self.camera_matrix = np.array(
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[
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[focal_length, 0, center[0]],
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@ -55,7 +55,7 @@ class ImageConverter:
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dtype=np.float32,
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)
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gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
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# detect aruco marker.
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# detect aruco marker. 检测 aruco 标记。
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ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
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corners, ids = ret[0], ret[1]
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# process marker data.
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@ -63,10 +63,10 @@ class ImageConverter:
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if ids is not None:
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# print('corners:', corners, 'ids:', ids)
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# detect marker pose.
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# detect marker pose. 检测标记姿势
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# argument:
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# marker corners
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# marker size (meter)
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# marker corners, 标记角
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# marker size (meter), 标记尺寸（米）
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ret = cv.aruco.estimatePoseSingleMarkers(
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corners, 0.05, self.camera_matrix, self.dist_coeffs
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)
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@ -75,7 +75,7 @@ class ImageConverter:
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print("rvec:", rvec, "tvec:", tvec)
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# just select first one detected marker.
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# just select first one detected marker. 只需选择第一个检测到的标记
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for i in range(rvec.shape[0]):
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cv.aruco.drawDetectedMarkers(cv_image, corners)
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cv.aruco.drawAxis(
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@ -90,14 +90,15 @@ class ImageConverter:
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xyz = tvec[0, 0, :]
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xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
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# get quaternion for ros.
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# get quaternion for ros. 为ros获取四元数
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euler = rvec[0, 0, :]
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tf_change = tf.transformations.quaternion_from_euler(
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euler[0], euler[1], euler[2]
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)
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print("tf_change:", tf_change)
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# trans pose according [joint1]
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# trans pose according [joint1]
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# 根据 [joint1] 变换姿势
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self.br.sendTransform(
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xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
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)
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@ -5,18 +5,21 @@ from visualization_msgs.msg import Marker
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import time
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import os
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# Type of message to communicate with mycobot
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# 与 mycobot 通信的消息类型
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from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
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rospy.init_node("gipper_subscriber", anonymous=True)
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# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
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# Control the topic of mycobot, followed by angle, coordinates, gripper
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# 控制mycobot的话题，依次是角度、坐标、夹爪
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angle_pub = rospy.Publisher("mycobot/angles_goal",
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MycobotSetAngles, queue_size=5)
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coord_pub = rospy.Publisher("mycobot/coords_goal",
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MycobotSetCoords, queue_size=5)
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# Judging equipment: ttyUSB* is M5；ttyACM* is wio
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# Judging device: ttyUSB* is M5；ttyACM* is wio
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# 判断设备：ttyUSB*为M5；ttyACM*为wio
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robot = os.popen("ls /dev/ttyUSB*").readline()
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if "dev" in robot:
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@ -27,27 +30,30 @@ else:
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pump_pub = rospy.Publisher("mycobot/pump_status",
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MycobotPumpStatus, queue_size=5)
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# 实例化消息对象
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# Instantiate the message object. 实例化消息对象
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angles = MycobotSetAngles()
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coords = MycobotSetCoords()
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pump = MycobotPumpStatus()
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# 与 mycobot 真实位置的偏差值
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# Deviation value from the real position of mycobot
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# 与mycobot真实位置的偏差值
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x_offset = -20
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y_offset = 20
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z_offset = 110
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# 通过该变量限制，抓取行为只做一次
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# With this variable limit, the fetching behavior is only done once
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# 使用此变量限制，抓取行为仅执行一次
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flag = False
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# 为了后面比较二维码是否移动
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# In order to compare whether the QR code moves later
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# 为了比较二维码后面是否移动
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temp_x = temp_y = temp_z = 0.0
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temp_time = time.time()
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def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
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"""发布坐标"""
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"""Post coordinates 发布坐标"""
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coords.x = x
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coords.y = y
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coords.z = z
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@ -61,7 +67,7 @@ def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
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def pub_angles(a, b, c, d, e, f, sp):
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"""发布角度"""
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"""Publishing angle. 发布角度"""
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angles.joint_1 = float(a)
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angles.joint_2 = float(b)
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angles.joint_3 = float(c)
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@ -73,7 +79,7 @@ def pub_angles(a, b, c, d, e, f, sp):
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def pub_pump(flag, Pin):
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"""发布夹爪状态"""
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"""Publish gripper status. 发布夹爪状态"""
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pump.Status = flag
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pump.Pin1 = Pin[0]
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pump.Pin2 = Pin[1]
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@ -81,7 +87,7 @@ def pub_pump(flag, Pin):
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def target_is_moving(x, y, z):
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"""判断目标是否移动"""
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"""Determine whether the target moves. 判断目标是否移动"""
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count = 0
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for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
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print(o, n)
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@ -94,18 +100,19 @@ def target_is_moving(x, y, z):
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def grippercallback(data):
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"""回调函数"""
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"""callback function. 回调函数"""
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global flag, temp_x, temp_y, temp_z
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# rospy.loginfo('gripper_subscriber get date :%s', data)
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if flag:
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return
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# 解析出坐标值
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# Parse out the coordinate value. 解析出坐标值
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# pump length: 88mm
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x = float(format(data.pose.position.x * 1000, ".2f"))
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y = float(format(data.pose.position.y * 1000, ".2f"))
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z = float(format(data.pose.position.z * 1000, ".2f"))
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# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
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# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
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if (
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time.time() - temp_time < 30
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@ -120,7 +127,7 @@ def grippercallback(data):
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temp_x, temp_y, temp_z = x, y, z
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return
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else: # 表示目标处于静止状态，可以尝试抓取
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else: # Indicates that the target is in a stationary state and can be attempted to grab. 表示目标处于静止状态，可以尝试抓取
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print(x, y, z)
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|
|
@ -172,13 +179,13 @@ def main():
|
|||
for _ in range(10):
|
||||
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
|
||||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||||
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
|
||||
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
|
||||
time.sleep(0.5)
|
||||
|
||||
pub_pump(False, Pin)
|
||||
# time.sleep(2.5)
|
||||
|
||||
# mark 信息的订阅者
|
||||
# subscribers to mark information, mark信息的订阅者
|
||||
rospy.Subscriber("visualization_marker", Marker,
|
||||
grippercallback, queue_size=1)
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ def talker():
|
|||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
# pub joint state. 发布关节状态
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
|
|
@ -83,7 +83,7 @@ def talker():
|
|||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
# marker position initial. 标记初始位置
|
||||
# print(coords)
|
||||
if not coords:
|
||||
# coords = [0, 0, 0, 0, 0 ]
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ def talker():
|
|||
print(type(trans), trans)
|
||||
print(type(rot), rot)
|
||||
|
||||
# marker
|
||||
# marker 标记
|
||||
marker_.header.stamp = now
|
||||
marker_.type = marker_.CUBE
|
||||
marker_.action = marker_.ADD
|
||||
|
|
@ -41,7 +41,7 @@ def talker():
|
|||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
# marker position initial. 标记初始位置
|
||||
marker_.pose.position.x = trans[0]
|
||||
marker_.pose.position.y = trans[1]
|
||||
marker_.pose.position.z = trans[2]
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@ def talker():
|
|||
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
# pub joint state 发布关节状态
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
|
|
@ -38,7 +38,7 @@ def talker():
|
|||
|
||||
rospy.loginfo("start loop ...")
|
||||
while not rospy.is_shutdown():
|
||||
# get real angles from server.
|
||||
# get real angles from server. 从服务获取真实的角度
|
||||
res = func()
|
||||
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
|
||||
continue
|
||||
|
|
@ -52,7 +52,7 @@ def talker():
|
|||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
# publish angles.
|
||||
# publish angles. 发布角度
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
joint_state_send.position = radians_list
|
||||
pub.publish(joint_state_send)
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@ from sensor_msgs.msg import JointState
|
|||
from std_msgs.msg import Header
|
||||
# from mycobot_communication.msg import MycobotAngles
|
||||
from mypalletizer_communication.msg import MypalAngles
|
||||
|
||||
|
||||
|
||||
class Listener(object):
|
||||
def __init__(self):
|
||||
|
|
@ -14,9 +14,9 @@ class Listener(object):
|
|||
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener_1", anonymous=True)
|
||||
# init publisher.
|
||||
# init publisher. 初始化发布者
|
||||
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
# init subscriber.
|
||||
# init subscriber. 初始化订阅者
|
||||
self.sub = rospy.Subscriber("mypal/angles_real", MypalAngles, self.callback)
|
||||
rospy.spin()
|
||||
|
||||
|
|
@ -26,7 +26,7 @@ class Listener(object):
|
|||
Args:
|
||||
data (MycobotAngles): callback argument.
|
||||
"""
|
||||
# ini publisher object.
|
||||
# ini publisher object. 初始化发布者对象
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
|
|
@ -43,7 +43,7 @@ class Listener(object):
|
|||
joint_state_send.effort = []
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
# process callback data.
|
||||
# process callback data. 处理回调数据
|
||||
radians_list = [
|
||||
data.joint_1 * (math.pi / 180),
|
||||
data.joint_2 * (math.pi / 180),
|
||||
|
|
|
|||
|
|
@ -10,47 +10,48 @@ from rospy import ServiceException
|
|||
class Window:
|
||||
def __init__(self, handle):
|
||||
self.win = handle
|
||||
self.win.resizable(0, 0) # 固定窗口大小 fixed window size
|
||||
self.win.resizable(0, 0) # fixed window size 固定窗口大小
|
||||
|
||||
self.model = 0
|
||||
self.speed = rospy.get_param("~speed", 50)
|
||||
|
||||
# 设置默认速度 set default speed
|
||||
# set default speed. 设置默认速度
|
||||
self.speed_d = tk.StringVar()
|
||||
self.speed_d.set(str(self.speed))
|
||||
# print(self.speed)
|
||||
self.connect_ser()
|
||||
|
||||
# # 获取机械臂数据 get data
|
||||
# Get robotic arm data. 获取机械臂数据
|
||||
self.record_coords = [0, 0, 0, 0,self.speed, self.model]
|
||||
self.res_angles = [0, 0, 0, 0, self.speed, self.model]
|
||||
self.get_date()
|
||||
|
||||
# get screen width and height
|
||||
self.ws = self.win.winfo_screenwidth() # width of the screen
|
||||
self.hs = self.win.winfo_screenheight() # height of the screen
|
||||
# get screen width and height. 获取屏幕宽度和高度
|
||||
self.ws = self.win.winfo_screenwidth()
|
||||
self.hs = self.win.winfo_screenheight()
|
||||
# calculate x and y coordinates for the Tk root window
|
||||
# 计算 Tk 根窗口的 x 和 y 坐标
|
||||
x = (self.ws / 2) - 190
|
||||
y = (self.hs / 2) - 250
|
||||
self.win.geometry("430x350+{}+{}".format(x, y))
|
||||
# 布局 layout
|
||||
# layout. 布局
|
||||
self.set_layout()
|
||||
# 输入部分 input
|
||||
# input. 输入部分
|
||||
self.need_input()
|
||||
# 展示部分 show info
|
||||
# show info. 展示部分
|
||||
self.show_init()
|
||||
|
||||
# joint 设置按钮 Settings button
|
||||
# Set joint button. 设置关节按钮
|
||||
tk.Button(self.frmLT, text="Set", width=5, command=self.get_joint_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# coordination 设置按钮 Settings button
|
||||
# Set Coordinate button. 设置坐标按钮
|
||||
tk.Button(self.frmRT, text="Set", width=5, command=self.get_coord_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# 夹爪开关按钮 Gripper Switch
|
||||
# Gripper Switch. 夹爪开关按钮
|
||||
tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid(
|
||||
row=1, column=0, sticky="w", padx=3, pady=50
|
||||
)
|
||||
|
|
@ -91,7 +92,7 @@ class Window:
|
|||
self.frmRT.grid(row=0, column=1, padx=2, pady=3)
|
||||
|
||||
def need_input(self):
|
||||
# 输入提示 input hint
|
||||
# input hint. 输入提示
|
||||
tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLT, text="Joint 2 ").grid(row=1)
|
||||
tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
|
||||
|
|
@ -104,7 +105,7 @@ class Window:
|
|||
tk.Label(self.frmRT, text=" rx ").grid(row=3)
|
||||
|
||||
|
||||
# 设置输入框的默认值 Set the default value of the input box
|
||||
# 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.set(self.res_angles[0])
|
||||
self.j2_default = tk.StringVar()
|
||||
|
|
@ -125,7 +126,7 @@ class Window:
|
|||
self.rx_default.set(self.record_coords[3])
|
||||
|
||||
|
||||
# joint input box 输入框
|
||||
# joint input box. 输入框
|
||||
self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
|
||||
self.J_1.grid(row=0, column=1, pady=3)
|
||||
self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default)
|
||||
|
|
@ -136,7 +137,7 @@ class Window:
|
|||
self.J_4.grid(row=3, column=1, pady=3)
|
||||
|
||||
|
||||
# coord input box 输入框
|
||||
# coord input box. 输入框
|
||||
self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
|
||||
self.x.grid(row=0, column=1, pady=3, padx=0)
|
||||
self.y = tk.Entry(self.frmRT, textvariable=self.y_default)
|
||||
|
|
@ -147,13 +148,13 @@ class Window:
|
|||
self.rx.grid(row=3, column=1, pady=3)
|
||||
|
||||
|
||||
# 所有输入框，用于拿输入的数据 all input box
|
||||
# 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.all_c = [self.x, self.y, self.z, self.rx]
|
||||
|
||||
|
||||
|
||||
# 速度输入框 speed input box
|
||||
# speed input box. 速度输入框
|
||||
tk.Label(
|
||||
self.frmLB,
|
||||
text="speed",
|
||||
|
|
@ -162,7 +163,7 @@ class Window:
|
|||
self.get_speed.grid(row=0, column=1)
|
||||
|
||||
def show_init(self):
|
||||
# 显示 display
|
||||
# display. 显示
|
||||
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1)
|
||||
tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
|
||||
|
|
@ -228,9 +229,9 @@ class Window:
|
|||
|
||||
]
|
||||
|
||||
# 显示
|
||||
# display. 显示
|
||||
tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
|
||||
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行
|
||||
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # the second row. 第二行
|
||||
tk.Label(self.frmLC, text=" z ").grid(row=2, column=3)
|
||||
tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3)
|
||||
|
||||
|
|
@ -286,7 +287,7 @@ class Window:
|
|||
bg="white",
|
||||
).grid(row=3, column=4, padx=5, pady=5)
|
||||
|
||||
# mm 单位展示 show label"mm"
|
||||
# show label"mm" .mm 单位展示
|
||||
self.unit = tk.StringVar()
|
||||
self.unit.set("mm")
|
||||
for i in range(4):
|
||||
|
|
@ -307,6 +308,7 @@ class Window:
|
|||
pass
|
||||
|
||||
def get_coord_input(self):
|
||||
# Get the data input by coord and send it to the robotic arm
|
||||
# 获取 coord 输入的数据，发送给机械臂
|
||||
c_value = []
|
||||
for i in self.all_c:
|
||||
|
|
@ -325,7 +327,8 @@ class Window:
|
|||
self.show_j_date(c_value[:-2], "coord")
|
||||
|
||||
def get_joint_input(self):
|
||||
# 获取joint输入的数据，发送给机械臂 Get the data of the joint and send it to the robotic arm
|
||||
# Get the data of the joint and send it to the robotic arm
|
||||
# 获取joint输入的数据，发送给机械臂
|
||||
j_value = []
|
||||
for i in self.all_j:
|
||||
# print(type(i.get()))
|
||||
|
|
@ -343,7 +346,7 @@ class Window:
|
|||
# return j_value,c_value,speed
|
||||
|
||||
def get_date(self):
|
||||
# 拿机械臂的数据，用于展示 Get the data of robotic arm for display
|
||||
# Get the data of robotic arm for display. 拿机械臂的数据，用于展示
|
||||
t = time.time()
|
||||
while time.time() - t < 2:
|
||||
self.res = self.get_coords()
|
||||
|
|
@ -380,7 +383,7 @@ class Window:
|
|||
|
||||
# def send_input(self,dates):
|
||||
def show_j_date(self, date, way=""):
|
||||
# 展示数据
|
||||
# Show data. 展示数据
|
||||
if way == "coord":
|
||||
for i, j in zip(date, self.coord_all):
|
||||
# print(i)
|
||||
|
|
|
|||
|
|
@ -25,7 +25,7 @@ def callback(data):
|
|||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(value)
|
||||
del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually!
|
||||
del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！
|
||||
# data_list[3] = data_list[4]
|
||||
# print(data_list)
|
||||
mc.send_radians(data_list, 80)
|
||||
|
|
@ -37,12 +37,13 @@ def listener():
|
|||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = MyPalletizer(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
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ import time
|
|||
|
||||
import roslib
|
||||
|
||||
|
||||
# Terminal output prompt information. 终端输出提示信息
|
||||
msg = """\
|
||||
Mypalletizer Teleop Keyboard Controller
|
||||
---------------------------
|
||||
|
|
@ -100,6 +100,7 @@ def teleop_keyboard():
|
|||
try:
|
||||
print(msg)
|
||||
print(vels(speed, change_percent))
|
||||
# Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
|
||||
while 1:
|
||||
try:
|
||||
# print("\r current coords: %s" % record_coords, end="")
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue