And English annotation

mypalletizer_260/launch/detect_marker.launch

@@ -1,4 +1,5 @@
 <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="gui" default="true" />
@@ -10,6 +11,7 @@
 		<arg name="rvizconfig" value="$(arg rvizconfig)" />
 		<arg name="gui" value="$(arg gui)" />
     </include>
+	<!-- vision node -->
 	<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
 	<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
 	<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />

mypalletizer_260/launch/detect_marker_with_topic.launch

@@ -1,7 +1,9 @@
 <launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
 	<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_with_marker.rviz" />
 	<arg name="gui" default="false" />
@@ -10,17 +12,17 @@
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<!-- Combinejoin values to TF -->
+	<!-- Combinejoin values to TF，将值合并到 TF -->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-	<!-- mycobot-topics -->
+	<!-- mycobot-topics ,mycobot-话题-->
     <include file="$(find mycobot_communication)/launch/communication_topic.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<!-- listen and pub the real angles -->
+	<!-- listen and pub the real angles，坚听并发布真实的角度 -->
 	<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
 	<!-- vision node -->
 	<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>

mypalletizer_260/launch/follow.launch

@@ -1,11 +1,14 @@
 <launch>
+	<!-- Load file model ，加载文件模型-->
 	<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
 	<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
+	<!-- Combinejoin values to TF ，将值合并到 TF-->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
 		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
 	</node>
+	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>

mypalletizer_260/launch/simple_gui.launch

@@ -1,22 +1,24 @@
 <launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
-
+	<!-- Load file model ，加载文件模型-->
 	<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
 	<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<!-- Combinejoin values to TF -->
+	<!-- Combinejoin values to TF ，将值合并到 TF-->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
-
+	<!-- mycobot-topics， mycobot-话题-->
     <include file="$(find mypalletizer_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="mypalletizer_260" type="listen_real.py" />
 	<node name="simple_gui" pkg="mypalletizer_260" type="simple_gui.py" />
 </launch>

mypalletizer_260/launch/slider_control.launch

@@ -1,14 +1,15 @@
 <launch>
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
-
+	
+	<!-- Load file model ，加载文件模型-->
 	<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
 	<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<!-- Combinejoin values to 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="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
 		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
@@ -19,6 +20,6 @@
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
 	</node> -->
-	<!-- Show in Rviz -->
+	<!-- Show in Rviz，显示在Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>

mypalletizer_260/launch/teleop_keyboard.launch

@@ -1,7 +1,9 @@
 <launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
 
+	<!-- Load file model ，加载文件模型-->
 	<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
 	<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
@@ -10,14 +12,17 @@
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<!-- Combinejoin values to TF -->
+	<!-- Combinejoin values to TF ，将值合并到TF-->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
+	<!-- mycobot-topics，mycobot-话题 -->
     <include file="$(find mypalletizer_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
+
+	<!-- listen and pub the real angles ，监听并发布真实话题-->
 	<node name="real_listener" pkg="mypalletizer_260" type="listen_real.py" />
 </launch>

mypalletizer_260/launch/test.launch

@@ -1,16 +1,17 @@
 <launch>
+	<!-- Load file model，加载文件模型 -->
 	<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="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<!-- Combinejoin values to 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="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 		<param name="use_gui" value="$(arg gui)" />
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
-	<!-- Show in Rviz -->
+	<!-- Show in Rviz，显示在Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>

mypalletizer_260/scripts/detect_marker.py

@@ -27,7 +27,7 @@ class ImageConverter:
         )
         self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
         self.camera_matrix = None
-        # subscriber, listen wether has img come in.
+        # subscriber, listen wether has img come in. 订阅者，监听是否有img进来
         self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
 
     def callback(self, data):
@@ -37,7 +37,7 @@ class ImageConverter:
         pose to transforming.
         """
         try:
-            # trans `rgb` to `gbr` for opencv.
+            # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
             cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
         except CvBridgeError as e:
             print(e)
@@ -45,7 +45,7 @@ class ImageConverter:
         focal_length = size[1]
         center = [size[1] / 2, size[0] / 2]
         if self.camera_matrix is None:
-            # calc the camera matrix, if don't have.
+            # calc the camera matrix, if don't have. 如果没有就计算相机矩阵
             self.camera_matrix = np.array(
                 [
                     [focal_length, 0, center[0]],
@@ -55,7 +55,7 @@ class ImageConverter:
                 dtype=np.float32,
             )
         gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
-        # detect aruco marker.
+        # detect aruco marker. 检测 aruco 标记。
         ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
         corners, ids = ret[0], ret[1]
         # process marker data.
@@ -63,10 +63,10 @@ class ImageConverter:
             if ids is not None:
                 # print('corners:', corners, 'ids:', ids)
 
-                # detect marker pose.
+                # detect marker pose. 检测标记姿势
                 # argument:
-                #   marker corners
+                #   marker corners, 标记角
-                #   marker size (meter)
+                #   marker size (meter), 标记尺寸（米）
                 ret = cv.aruco.estimatePoseSingleMarkers(
                     corners, 0.05, self.camera_matrix, self.dist_coeffs
                 )
@@ -75,7 +75,7 @@ class ImageConverter:
 
                 print("rvec:", rvec, "tvec:", tvec)
 
-                # just select first one detected marker.
+                # just select first one detected marker. 只需选择第一个检测到的标记
                 for i in range(rvec.shape[0]):
                     cv.aruco.drawDetectedMarkers(cv_image, corners)
                     cv.aruco.drawAxis(
@@ -90,14 +90,15 @@ class ImageConverter:
                 xyz = tvec[0, 0, :]
                 xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
 
-                # get quaternion for ros.
+                # get quaternion for ros. 为ros获取四元数
                 euler = rvec[0, 0, :]
                 tf_change = tf.transformations.quaternion_from_euler(
                     euler[0], euler[1], euler[2]
                 )
                 print("tf_change:", tf_change)
 
-                # trans pose according [joint1]
+                # trans pose according [joint1] 
+                # 根据 [joint1] 变换姿势
                 self.br.sendTransform(
                     xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
                 )

mypalletizer_260/scripts/follow_and_pump.py

@@ -5,18 +5,21 @@ from visualization_msgs.msg import Marker
 import time
 import os
 
+# Type of message to communicate with mycobot 
 # 与 mycobot 通信的消息类型
 from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
 
 
 rospy.init_node("gipper_subscriber", anonymous=True)
 
-# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
+# Control the topic of mycobot, followed by angle, coordinates, gripper 
+# 控制mycobot的话题，依次是角度、坐标、夹爪
 angle_pub = rospy.Publisher("mycobot/angles_goal",
                             MycobotSetAngles, queue_size=5)
 coord_pub = rospy.Publisher("mycobot/coords_goal",
                             MycobotSetCoords, queue_size=5)
-# Judging equipment: ttyUSB* is M5；ttyACM* is wio
+# Judging device: ttyUSB* is M5；ttyACM* is wio 
+# 判断设备：ttyUSB*为M5；ttyACM*为wio
 robot = os.popen("ls /dev/ttyUSB*").readline()
 
 if "dev" in robot:
@@ -27,27 +30,30 @@ else:
 pump_pub = rospy.Publisher("mycobot/pump_status",
                            MycobotPumpStatus, queue_size=5)
 
-# 实例化消息对象
+# Instantiate the message object. 实例化消息对象
 angles = MycobotSetAngles()
 coords = MycobotSetCoords()
 pump = MycobotPumpStatus()
 
-# 与 mycobot 真实位置的偏差值
+# Deviation value from the real position of mycobot 
+# 与mycobot真实位置的偏差值
 x_offset = -20
 y_offset = 20
 z_offset = 110
 
-# 通过该变量限制，抓取行为只做一次
+# With this variable limit, the fetching behavior is only done once
+#  使用此变量限制，抓取行为仅执行一次
 flag = False
 
-# 为了后面比较二维码是否移动
+# In order to compare whether the QR code moves later 
+# 为了比较二维码后面是否移动
 temp_x = temp_y = temp_z = 0.0
 
 temp_time = time.time()
 
 
 def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
-    """发布坐标"""
+    """Post coordinates 发布坐标"""
     coords.x = x
     coords.y = y
     coords.z = z
@@ -61,7 +67,7 @@ def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
 
 
 def pub_angles(a, b, c, d, e, f, sp):
-    """发布角度"""
+    """Publishing angle. 发布角度"""
     angles.joint_1 = float(a)
     angles.joint_2 = float(b)
     angles.joint_3 = float(c)
@@ -73,7 +79,7 @@ def pub_angles(a, b, c, d, e, f, sp):
 
 
 def pub_pump(flag, Pin):
-    """发布夹爪状态"""
+    """Publish gripper status. 发布夹爪状态"""
     pump.Status = flag
     pump.Pin1 = Pin[0]
     pump.Pin2 = Pin[1]
@@ -81,7 +87,7 @@ def pub_pump(flag, Pin):
 
 
 def target_is_moving(x, y, z):
-    """判断目标是否移动"""
+    """Determine whether the target moves. 判断目标是否移动"""
     count = 0
     for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
         print(o, n)
@@ -94,18 +100,19 @@ def target_is_moving(x, y, z):
 
 
 def grippercallback(data):
-    """回调函数"""
+    """callback function. 回调函数"""
     global flag, temp_x, temp_y, temp_z
     # rospy.loginfo('gripper_subscriber get date :%s', data)
     if flag:
         return
 
-    # 解析出坐标值
+    # Parse out the coordinate value. 解析出坐标值
     # pump length: 88mm
     x = float(format(data.pose.position.x * 1000, ".2f"))
     y = float(format(data.pose.position.y * 1000, ".2f"))
     z = float(format(data.pose.position.z * 1000, ".2f"))
 
+    # When the running time is less than 30s, or the target position is still changing, perform tracking behavior
     # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
     if (
         time.time() - temp_time < 30
@@ -120,7 +127,7 @@ def grippercallback(data):
 
         temp_x, temp_y, temp_z = x, y, z
         return
-    else:  # 表示目标处于静止状态，可以尝试抓取
+    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
 
         print(x, y, z)
 
@@ -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)
 

mypalletizer_260/scripts/follow_display.py

@@ -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 ]

mypalletizer_260/scripts/following_marker.py

@@ -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]

mypalletizer_260/scripts/listen_real.py

@@ -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)

mypalletizer_260/scripts/listen_real_of_topic.py

@@ -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),

mypalletizer_260/scripts/simple_gui.py

@@ -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
+        # get screen width and height. 获取屏幕宽度和高度
-        self.ws = self.win.winfo_screenwidth()  # width of the screen
+        self.ws = self.win.winfo_screenwidth()  
-        self.hs = self.win.winfo_screenheight()  # height of the screen
+        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)

mypalletizer_260/scripts/slider_control.py

@@ -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()
 

mypalletizer_260/scripts/teleop_keyboard.py

@@ -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="")