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Merge pull request #126 from elephantrobotics/cobotx_b450

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Cobotx b450
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wangWking 2023-11-15 13:49:52 +08:00 • committed by GitHub
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184 changed files with 18340 additions and 155 deletions
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2
CobotX/cobotx_a450/CMakeLists.txt → Mercury/mercury_a1/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
project(cobotx_a450)
project(mercury_a1)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages

0
CobotX/cobotx_a450/LICENSE → Mercury/mercury_a1/LICENSE
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0
CobotX/cobotx_a450/config/cobotx_a450.rviz → Mercury/mercury_a1/config/mercury_a1.rviz
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0
CobotX/cobotx_a450/launch/detect_marker.launch → Mercury/mercury_a1/launch/detect_marker.launch
View file

0
CobotX/cobotx_a450/launch/detect_marker_with_topic.launch → Mercury/mercury_a1/launch/detect_marker_with_topic.launch
View file

4
CobotX/cobotx_a450/launch/mycobot_follow.launch → Mercury/mercury_a1/launch/mycobot_follow.launch
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@ -1,7 +1,7 @@
<launch>
<!-- Load URDF file,加载URDF文件 -->
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->

10
CobotX/cobotx_a450/launch/simple_gui.launch → Mercury/mercury_a1/launch/simple_gui.launch
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@ -3,8 +3,8 @@
<arg name="port" default="/dev/ttyAMA1" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.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 cobotx_a450_communication)/launch/communication_service.launch">
<include file="$(find mercury_a1_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
<node name="simple_gui" pkg="cobotx_a450" type="simple_gui.py" />
<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
<node name="simple_gui" pkg="mercury_a1" type="simple_gui.py" />
</launch>

4
CobotX/cobotx_a450/launch/slider_control.launch → Mercury/mercury_a1/launch/slider_control.launch
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@ -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="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

8
CobotX/cobotx_a450/launch/teleop_keyboard.launch → Mercury/mercury_a1/launch/teleop_keyboard.launch
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@ -3,8 +3,8 @@
<arg name="port" default="/dev/ttyAMA1" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.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 cobotx_a450_communication)/launch/communication_service.launch">
<include file="$(find mercury_a1_communication)/launch/communication_service.launch">
<arg name="port" value="$(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="cobotx_a450" type="listen_real.py" />
<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
</launch>

4
CobotX/cobotx_a450/launch/test.launch → Mercury/mercury_a1/launch/test.launch
View file

@ -1,6 +1,6 @@
<launch>
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

10
CobotX/cobotx_a450/package.xml → Mercury/mercury_a1/package.xml
View file

@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="2">
<name>cobotx_a450</name>
<name>mercury_a1</name>
<version>0.3.0</version>
<description>The cobotx_a450 package</description>
<description>The mercury_a1 package</description>
<author email="weijian.wang@elephantrobotics.com">Wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">Wangweijian</maintainer>
@ -18,9 +18,9 @@
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>mycobot_description</build_depend>
<build_depend>cobotx_a450_communication</build_depend>
<build_depend>mercury_a1_communication</build_depend>
<build_export_depend>cobotx_a450_communication</build_export_depend>
<build_export_depend>mercury_a1_communication</build_export_depend>
<build_export_depend>mycobot_description</build_export_depend>
<exec_depend>roscpp</exec_depend>
@ -36,7 +36,7 @@
<exec_depend>controller_manager</exec_depend>
<exec_depend>python-tk</exec_depend>
<exec_depend>mycobot_description</exec_depend>
<exec_depend>cobotx_a450_communication</exec_depend>
<exec_depend>mercury_a1_communication</exec_depend>
<!-- The export tag contains other, unspecified, tags -->

0
CobotX/cobotx_a450/scripts/detect_marker.py → Mercury/mercury_a1/scripts/detect_marker.py
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0
CobotX/cobotx_a450/scripts/follow_and_pump.py → Mercury/mercury_a1/scripts/follow_and_pump.py
View file

10
CobotX/cobotx_a450/scripts/follow_display.py → Mercury/mercury_a1/scripts/follow_display.py
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@ -6,24 +6,24 @@ from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.cobotx import CobotX
from pymycobot.mercury import Mercury
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real CobotX...")
print("Try connect real Mercury...")
port = rospy.get_param("~port", "/dev/ttyAMA1")
baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud))
try:
mc = CobotX(port, baud)
mc = Mercury(port, baud)
except Exception as e:
print(e)
print(
"""\
\rTry connect CobotX failed!
\rPlease check wether connected with CobotX.
\rTry connect Mercury failed!
\rPlease check wether connected with Mercury.
\rPlease chckt wether the port or baud is right.
"""
)

0
CobotX/cobotx_a450/scripts/following_marker.py → Mercury/mercury_a1/scripts/following_marker.py
View file

2
CobotX/cobotx_a450/scripts/listen_real.py → Mercury/mercury_a1/scripts/listen_real.py
View file

@ -7,7 +7,7 @@ import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from cobotx_a450_communication.srv import GetAngles
from mercury_a1_communication.srv import GetAngles
def talker():

66
Mercury/mercury_a1/scripts/listen_real_of_topic.py Executable file
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@ -0,0 +1,66 @@
#!/usr/bin/env python3
# encoding:utf-8
import math
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mercury_a1_communication.msg import MercuryAngles
class Listener(object):
def __init__(self):
super(Listener, self).__init__()
rospy.loginfo("start ...")
rospy.init_node("real_listener_1", anonymous=True)
# init publisher.初始化发布者
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
# init subscriber.初始化订阅者
self.sub = rospy.Subscriber("myarm/angles_real", MercuryAngles, self.callback)
rospy.spin()
def callback(self, data):
"""`mercury/angles_real` subscriber callback method.
Args:
data (MercuryAngles): callback argument.
"""
# ini publisher object. 初始化发布者对象
joint_state_send = JointState()
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",
"joint7_to_joint6",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
joint_state_send.header.stamp = rospy.Time.now()
# process callback data. 处理回调数据。
radians_list = [
data.joint_1 * (math.pi / 180),
data.joint_2 * (math.pi / 180),
data.joint_3 * (math.pi / 180),
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))
joint_state_send.position = radians_list
self.pub.publish(joint_state_send)
if __name__ == "__main__":
try:
Listener()
except rospy.ROSInterruptException:
pass

501
Mercury/mercury_a1/scripts/simple_gui.py Executable file
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@ -0,0 +1,501 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
try:
import tkinter as tk
except ImportError:
import Tkinter as tk
from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import time
from rospy import ServiceException
class Window:
def __init__(self, handle):
self.win = handle
self.win.resizable(0, 0) # fixed window size，固定窗口大小
self.model = 0
self.speed = rospy.get_param("~speed", 50)
# 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()
# Get the data of the robotic arm，获取机械臂数据
self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model]
self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model]
self.get_date()
# 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.hs = self.win.winfo_screenheight() # height of the screen
# calculate x and y coordinates for the Tk root window
# 计算 Tk 根窗口的 x 和 y 坐标
x = int((self.ws / 2) - 190)
y = int((self.hs / 2) - 250)
self.win.geometry("430x450+{}+{}".format(x, y))
# layout,布局
self.set_layout()
# input section,输入部分
self.need_input()
# Show part,展示部分
self.show_init()
# Set the joint buttons 设置joint按钮
tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
row=7, column=1, sticky="w", padx=3, pady=2
)
# coordination settings button,coordination 设置按钮
tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
row=7, column=1, sticky="w", padx=3, pady=2
)
# Gripper switch button,夹爪开关按钮
tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid(
row=1, column=0, sticky="w", padx=3, pady=50
)
tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
row=1, column=1, sticky="w", padx=3, pady=2
)
def connect_ser(self):
rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
rospy.wait_for_service("get_joint_angles")
rospy.wait_for_service("set_joint_angles")
rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords")
rospy.wait_for_service("switch_gripper_status")
try:
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
self.switch_gripper = rospy.ServiceProxy(
"switch_gripper_status", GripperStatus
)
except:
print("start error ...")
exit(1)
print("Connect service success.")
def set_layout(self):
self.frmLT = tk.Frame(width=200, height=200)
self.frmLC = tk.Frame(width=200, height=200)
self.frmLB = tk.Frame(width=200, height=200)
self.frmRT = tk.Frame(width=200, height=200)
self.frmLT.grid(row=0, column=0, padx=1, pady=3)
self.frmLC.grid(row=1, column=0, padx=1, pady=3)
self.frmLB.grid(row=1, column=1, padx=2, pady=3)
self.frmRT.grid(row=0, column=1, padx=2, pady=3)
def need_input(self):
# 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) # the second row,第二行
tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
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
tk.Label(self.frmRT, text=" z ").grid(row=2)
tk.Label(self.frmRT, text=" rx ").grid(row=3)
tk.Label(self.frmRT, text=" ry ").grid(row=4)
tk.Label(self.frmRT, text=" rz ").grid(row=5)
# 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()
self.j2_default.set(self.res_angles[1])
self.j3_default = tk.StringVar()
self.j3_default.set(self.res_angles[2])
self.j4_default = tk.StringVar()
self.j4_default.set(self.res_angles[3])
self.j5_default = tk.StringVar()
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])
self.y_default = tk.StringVar()
self.y_default.set(self.record_coords[1])
self.z_default = tk.StringVar()
self.z_default.set(self.record_coords[2])
self.rx_default = tk.StringVar()
self.rx_default.set(self.record_coords[3])
self.ry_default = tk.StringVar()
self.ry_default.set(self.record_coords[4])
self.rz_default = tk.StringVar()
self.rz_default.set(self.record_coords[5])
# joint input box,joint 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)
self.J_2.grid(row=1, column=1, pady=3)
self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
self.J_3.grid(row=2, column=1, pady=3)
self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
self.J_4.grid(row=3, column=1, pady=3)
self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default)
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=6, column=1, pady=3)
# coord input box,coord 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)
self.y.grid(row=1, column=1, pady=3)
self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
self.z.grid(row=2, column=1, pady=3)
self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
self.rx.grid(row=3, column=1, pady=3)
self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default)
self.ry.grid(row=4, column=1, pady=3)
self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default)
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.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
tk.Label(
self.frmLB,
text="speed",
).grid(row=0, column=0)
self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
self.get_speed.grid(row=0, column=1)
def show_init(self):
# show,显示
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行
tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
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
# show,展示出来
self.cont_1 = tk.StringVar(self.frmLC)
self.cont_1.set(str(self.res_angles[0]) + "°")
self.cont_2 = tk.StringVar(self.frmLC)
self.cont_2.set(str(self.res_angles[1]) + "°")
self.cont_3 = tk.StringVar(self.frmLC)
self.cont_3.set(str(self.res_angles[2]) + "°")
self.cont_4 = tk.StringVar(self.frmLC)
self.cont_4.set(str(self.res_angles[3]) + "°")
self.cont_5 = tk.StringVar(self.frmLC)
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,
self.cont_3,
self.cont_4,
self.cont_5,
self.cont_6,
self.cont_7,
self.speed,
self.model,
]
self.show_j1 = tk.Label(
self.frmLC,
textvariable=self.cont_1,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=1, padx=0, pady=5)
self.show_j2 = tk.Label(
self.frmLC,
textvariable=self.cont_2,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=1, padx=0, pady=5)
self.show_j3 = tk.Label(
self.frmLC,
textvariable=self.cont_3,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=1, padx=0, pady=5)
self.show_j4 = tk.Label(
self.frmLC,
textvariable=self.cont_4,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=1, padx=0, pady=5)
self.show_j5 = tk.Label(
self.frmLC,
textvariable=self.cont_5,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=1, padx=0, pady=5)
self.show_j6 = tk.Label(
self.frmLC,
textvariable=self.cont_6,
font=("Arial", 9),
width=7,
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=6, column=1, padx=5, pady=5)
self.all_jo = [
self.show_j1,
self.show_j2,
self.show_j3,
self.show_j4,
self.show_j5,
self.show_j6,
self.show_j7,
]
# show,显示
tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3)
tk.Label(self.frmLC, text=" z ").grid(row=2, column=3)
tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3)
tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3)
tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3)
self.coord_x = tk.StringVar()
self.coord_x.set(str(self.record_coords[0]))
self.coord_y = tk.StringVar()
self.coord_y.set(str(self.record_coords[1]))
self.coord_z = tk.StringVar()
self.coord_z.set(str(self.record_coords[2]))
self.coord_rx = tk.StringVar()
self.coord_rx.set(str(self.record_coords[3]))
self.coord_ry = tk.StringVar()
self.coord_ry.set(str(self.record_coords[4]))
self.coord_rz = tk.StringVar()
self.coord_rz.set(str(self.record_coords[5]))
self.coord_all = [
self.coord_x,
self.coord_y,
self.coord_z,
self.coord_rx,
self.coord_ry,
self.coord_rz,
self.speed,
self.model,
]
self.show_x = tk.Label(
self.frmLC,
textvariable=self.coord_x,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=0, column=4, padx=5, pady=5)
self.show_y = tk.Label(
self.frmLC,
textvariable=self.coord_y,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=1, column=4, padx=5, pady=5)
self.show_z = tk.Label(
self.frmLC,
textvariable=self.coord_z,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=2, column=4, padx=5, pady=5)
self.show_rx = tk.Label(
self.frmLC,
textvariable=self.coord_rx,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=3, column=4, padx=5, pady=5)
self.show_ry = tk.Label(
self.frmLC,
textvariable=self.coord_ry,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=4, column=4, padx=5, pady=5)
self.show_rz = tk.Label(
self.frmLC,
textvariable=self.coord_rz,
font=("Arial", 9),
width=7,
height=1,
bg="white",
).grid(row=5, column=4, padx=5, pady=5)
# mm， Unit show，单位展示
self.unit = tk.StringVar()
self.unit.set("mm")
for i in range(6):
tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
row=i, column=5
)
def gripper_open(self):
try:
self.switch_gripper(True)
except ServiceException:
# Probably because the method has no return value, the service throws an unhandled error
# 可能由于该方法没有返回值，服务抛出无法处理的错误
pass
def gripper_close(self):
try:
self.switch_gripper(False)
except ServiceException:
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:
# print(type(i.get()))
c_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
c_value.append(self.speed)
c_value.append(self.model)
# print(c_value)
try:
self.set_coords(*c_value)
except ServiceException:
pass
self.show_j_date(c_value[:-2], "coord")
def get_joint_input(self):
# Get the data input by 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()))
j_value.append(float(i.get()))
self.speed = (
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
)
j_value.append(self.speed)
try:
self.set_angles(*j_value)
except ServiceException:
pass
self.show_j_date(j_value[:-1])
# return j_value,c_value,speed
def get_date(self):
# Take the data of the 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()
if self.res.x > 1:
break
time.sleep(0.1)
t = time.time()
while time.time() - t < 2:
self.angles = self.get_angles()
if self.angles.joint_1 > 1:
break
time.sleep(0.1)
# print(self.angles.joint_1)
self.record_coords = [
round(self.res.x, 2),
round(self.res.y, 2),
round(self.res.z, 2),
round(self.res.rx, 2),
round(self.res.ry, 2),
round(self.res.rz, 2),
self.speed,
self.model,
]
self.res_angles = [
round(self.angles.joint_1, 2),
round(self.angles.joint_2, 2),
round(self.angles.joint_3, 2),
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)
# def send_input(self,dates):
def show_j_date(self, date, way=""):
# Show data,展示数据
if way == "coord":
for i, j in zip(date, self.coord_all):
# print(i)
j.set(str(i))
else:
for i, j in zip(date, self.cont_all):
j.set(str(i) + "°")
def run(self):
while True:
try:
self.win.update()
time.sleep(0.001)
except tk.TclError as e:
if "application has been destroyed" in str(e):
break
else:
raise
def main():
window = tk.Tk()
window.title("Mercury ros GUI")
Window(window).run()
if __name__ == "__main__":
main()

8
CobotX/cobotx_a450/scripts/slider_control.py → Mercury/mercury_a1/scripts/slider_control.py
View file

@ -12,7 +12,7 @@ import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.cobotx import CobotX
from pymycobot.mercury import Mercury
mc = None
@ -20,7 +20,9 @@ mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
print(data.position)
# print(data.position)
rounded_data_tuple = tuple(round(value, 2) for value in data.position)
rospy.loginfo(rospy.get_caller_id() + "%s", rounded_data_tuple)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = math.degrees(value)
@ -39,7 +41,7 @@ def listener():
port = rospy.get_param("~port", "/dev/ttyAMA1")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = CobotX(port, baud)
mc = Mercury(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

177
Mercury/mercury_a1/scripts/teleop_keyboard.py Executable file
View file

@ -0,0 +1,177 @@
#!/usr/bin/env python3
from __future__ import print_function
from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import sys
import termios
import tty
import time
# Terminal output prompt information. 终端输出提示信息
msg = """\
Mercury Teleop Keyboard Controller
---------------------------
Movimg options(control coordinations [x,y,z,rx,ry,rz]):
w(x+)
a(y-) s(x-) d(y+)
z(z-) x(z+)
u(rx+) i(ry+) o(rz+)
j(rx-) k(ry-) l(rz-)
Gripper control:
g - open
h - close
Other:
1 - Go to init pose
2 - Go to home pose
3 - Resave home pose
q - Quit
"""
def vels(speed, turn):
return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn)
class Raw(object):
def __init__(self, stream):
self.stream = stream
self.fd = self.stream.fileno()
def __enter__(self):
self.original_stty = termios.tcgetattr(self.stream)
tty.setcbreak(self.stream)
def __exit__(self, type, value, traceback):
termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
def teleop_keyboard():
rospy.init_node("teleop_keyboard")
model = 1
speed = rospy.get_param("~speed", 50)
change_percent = rospy.get_param("~change_percent", 5)
change_angle = 180 * change_percent / 100
change_len = 250 * change_percent / 100
rospy.wait_for_service("get_joint_angles")
rospy.wait_for_service("set_joint_angles")
rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords")
rospy.wait_for_service("switch_gripper_status")
print("service ready.")
try:
get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
switch_gripper = rospy.ServiceProxy(
"switch_gripper_status", GripperStatus)
except:
print("start error ...")
exit(1)
init_pose = [0, 0, 0, 0, 0, 0, 0, speed]
home_pose = [0, 0, 0, -90, 0, 90, 0, speed]
rsp = set_angles(*home_pose)
while True:
res = get_coords()
if res.x > 1:
break
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
print('init_coords:', record_coords)
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="")
with Raw(sys.stdin):
key = sys.stdin.read(1)
if key == "q":
break
elif key in ["w", "W"]:
record_coords[0] += change_len
set_coords(*record_coords)
elif key in ["s", "S"]:
record_coords[0] -= change_len
set_coords(*record_coords)
elif key in ["a", "A"]:
record_coords[1] -= change_len
set_coords(*record_coords)
elif key in ["d", "D"]:
record_coords[1] += change_len
set_coords(*record_coords)
elif key in ["z", "Z"]:
record_coords[2] -= change_len
set_coords(*record_coords)
elif key in ["x", "X"]:
record_coords[2] += change_len
set_coords(*record_coords)
elif key in ["u", "U"]:
record_coords[3] += change_angle
set_coords(*record_coords)
elif key in ["j", "J"]:
record_coords[3] -= change_angle
set_coords(*record_coords)
elif key in ["i", "I"]:
record_coords[4] += change_angle
set_coords(*record_coords)
elif key in ["k", "K"]:
record_coords[4] -= change_angle
set_coords(*record_coords)
elif key in ["o", "O"]:
record_coords[5] += change_angle
set_coords(*record_coords)
elif key in ["l", "L"]:
record_coords[5] -= change_angle
set_coords(*record_coords)
elif key in ["g", "G"]:
switch_gripper(True)
elif key in ["h", "H"]:
switch_gripper(False)
elif key == "1":
rsp = set_angles(*init_pose)
elif key in "2":
rsp = set_angles(*home_pose)
time.sleep(3)
res = get_coords()
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
print('home_coords:', record_coords)
elif key in "3":
rep = get_angles()
home_pose[0] = rep.joint_1
home_pose[1] = rep.joint_2
home_pose[2] = rep.joint_3
home_pose[3] = rep.joint_4
home_pose[5] = rep.joint_5
else:
continue
except Exception as e:
# print(e)
continue
except Exception as e:
print(e)
if __name__ == "__main__":
try:
teleop_keyboard()
except rospy.ROSInterruptException:
pass

0
CobotX/cobotx_a450/src/camera_display.cpp → Mercury/mercury_a1/src/camera_display.cpp
View file

0
CobotX/cobotx_a450/src/opencv_camera.cpp → Mercury/mercury_a1/src/opencv_camera.cpp
View file

18
CobotX/cobotx_a450_communication/CMakeLists.txt → Mercury/mercury_a1_communication/CMakeLists.txt
View file

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
project(cobotx_a450_communication)
project(mercury_a1_communication)
add_compile_options(-std=c++11)
## Compile as C++11, supported in ROS Kinetic and newer
@ -50,12 +50,12 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files(FILES
CobotXAngles.msg
CobotXCoords.msg
CobotXSetAngles.msg
CobotXSetCoords.msg
CobotXGripperStatus.msg
CobotXPumpStatus.msg
MercuryAngles.msg
MercuryCoords.msg
MercurySetAngles.msg
MercurySetCoords.msg
MercuryGripperStatus.msg
MercuryPumpStatus.msg
)
## Generate services in the 'srv' folder
@ -169,8 +169,8 @@ include_directories(
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/cobotx_services.py
scripts/cobotx_topics.py
scripts/mercury_services.py
scripts/mercury_topics.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

0
CobotX/cobotx_a450_communication/LICENSE → Mercury/mercury_a1_communication/LICENSE
View file

0
CobotX/cobotx_a450_communication/launch/communication_jsnn.launch → Mercury/mercury_a1_communication/launch/communication_jsnn.launch
View file

0
CobotX/cobotx_a450_communication/launch/communication_seeed.launch → Mercury/mercury_a1_communication/launch/communication_seeed.launch
View file

2
CobotX/cobotx_a450_communication/launch/communication_service.launch → Mercury/mercury_a1_communication/launch/communication_service.launch
View file

@ -6,7 +6,7 @@
<!-- Open communication service ，开启通讯服务-->
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_services.py" output="screen">
<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_services.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>

2
CobotX/cobotx_a450_communication/launch/communication_topic.launch → Mercury/mercury_a1_communication/launch/communication_topic.launch
View file

@ -4,7 +4,7 @@
<arg name="baud" default="115200" />
<!-- Open communication service，开启通讯服务 -->
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics.py" output="screen">
<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_topics.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>

2
CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch → Mercury/mercury_a1_communication/launch/communication_topic_pi.launch
View file

@ -4,7 +4,7 @@
<arg name="baud" default="115200" />
<!-- Open communication service --><!-- 开启通讯服务 -->
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics_pi.py" output="screen">
<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_topics_pi.py" output="screen">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node>

0
CobotX/cobotx_a450_communication/msg/CobotXAngles.msg → Mercury/mercury_a1_communication/msg/MercuryAngles.msg
View file

0
CobotX/cobotx_a450_communication/msg/CobotXCoords.msg → Mercury/mercury_a1_communication/msg/MercuryCoords.msg
View file

0
CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg → Mercury/mercury_a1_communication/msg/MercuryGripperStatus.msg
View file

0
CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg → Mercury/mercury_a1_communication/msg/MercuryPumpStatus.msg
View file

0
CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg → Mercury/mercury_a1_communication/msg/MercurySetAngles.msg
View file

0
CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg → Mercury/mercury_a1_communication/msg/MercurySetCoords.msg
View file

4
CobotX/cobotx_a450_communication/package.xml → Mercury/mercury_a1_communication/package.xml
View file

@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="2">
<name>cobotx_a450_communication</name>
<name>mercury_a1_communication</name>
<version>0.1.0</version>
<description>The cobotx_a450_communication package</description>
<description>The mercury_a1_communication package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->

26
CobotX/cobotx_a450_communication/scripts/cobotx_services.py → Mercury/mercury_a1_communication/scripts/mercury_services.py
View file

@ -4,9 +4,9 @@ import time
import rospy
import os
import fcntl
from cobotx_a450_communication.srv import *
from mercury_a1_communication.srv import *
from pymycobot.cobotx import CobotX
from pymycobot.mercury import Mercury
mc = None
@ -51,12 +51,12 @@ def release(lock_file_fd):
def create_handle():
global mc
rospy.init_node("cobotx")
rospy.init_node("mercury")
rospy.loginfo("start ...")
port = rospy.get_param("~port")
baud = rospy.get_param("~baud")
rospy.loginfo("%s,%s" % (port, baud))
mc = CobotX(port, baud)
mc = Mercury(port, baud)
def create_services():
@ -84,7 +84,7 @@ def set_angles(req):
sp = req.speed
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
mc.send_angles(angles, sp)
release(lock)
@ -94,7 +94,7 @@ def set_angles(req):
def get_angles(req):
"""get angles,获取角度"""
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
angles = mc.get_angles()
release(lock)
return GetAnglesResponse(*angles)
@ -113,7 +113,7 @@ def set_coords(req):
mod = req.model
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
mc.send_coords(coords, sp, mod)
release(lock)
@ -122,7 +122,7 @@ def set_coords(req):
def get_coords(req):
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
coords = mc.get_coords()
release(lock)
return GetCoordsResponse(*coords)
@ -132,7 +132,7 @@ def switch_status(req):
"""Gripper switch status"""
"""夹爪开关状态"""
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
if req.Status:
mc.set_gripper_state(0, 80)
else:
@ -144,7 +144,7 @@ def switch_status(req):
def toggle_pump(req):
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
if req.Status:
mc.set_basic_output(req.Pin1, 0)
mc.set_basic_output(req.Pin2, 0)
@ -158,7 +158,7 @@ def toggle_pump(req):
robot_msg = """
Cobotx Status
Mercury Status
--------------------------------
Joint Limit:
joint 1: -165 ~ +165
@ -186,13 +186,13 @@ def output_robot_message():
atom_version = "unknown"
if mc:
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
cn = mc.is_controller_connected()
release(lock)
if cn == 1:
connect_status = True
time.sleep(0.1)
lock = acquire("/tmp/cobotx_lock")
lock = acquire("/tmp/mercury_lock")
si = mc.is_all_servo_enable()
release(lock)
if si == 1:

46
CobotX/cobotx_a450_communication/scripts/cobotx_topics.py → Mercury/mercury_a1_communication/scripts/mercury_topics.py
View file

@ -8,16 +8,16 @@ import threading
import rospy
from cobotx_a450_communication.msg import (
CobotXAngles,
CobotXCoords,
CobotXSetAngles,
CobotXSetCoords,
CobotXGripperStatus,
CobotXPumpStatus,
from mercury_a1_communication.msg import (
MercuryAngles,
MercuryCoords,
MercurySetAngles,
MercurySetCoords,
MercuryGripperStatus,
MercuryPumpStatus,
)
from pymycobot.cobotx import CobotX
from pymycobot.mercury import Mercury
class Watcher:
@ -64,11 +64,11 @@ class Watcher:
pass
class CobotXTopics(object):
class MercuryTopics(object):
def __init__(self):
super(CobotXTopics, self).__init__()
super(MercuryTopics, self).__init__()
rospy.init_node("cobotx_topics")
rospy.init_node("mercury_topics")
rospy.loginfo("start ...")
# port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
port = rospy.get_param("~port", "/dev/ttyAMA1")
@ -76,7 +76,7 @@ class CobotXTopics(object):
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mc = CobotX(port, baud)
self.mc = Mercury(port, baud)
self.lock = threading.Lock()
def start(self):
@ -110,9 +110,9 @@ class CobotXTopics(object):
def pub_real_angles(self):
"""Publish real angle"""
"""发布真实角度"""
pub = rospy.Publisher("cobotx/angles_real",
CobotXAngles, queue_size=5)
ma = CobotXAngles()
pub = rospy.Publisher("mercury/angles_real",
MercuryAngles, queue_size=5)
ma = MercuryAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.get_angles()
@ -131,9 +131,9 @@ class CobotXTopics(object):
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("cobotx/coords_real",
CobotXCoords, queue_size=5)
ma = CobotXCoords()
pub = rospy.Publisher("mercury/coords_real",
MercuryCoords, queue_size=5)
ma = MercuryCoords()
while not rospy.is_shutdown():
self.lock.acquire()
@ -166,7 +166,7 @@ class CobotXTopics(object):
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"cobotx/angles_goal", CobotXSetAngles, callback=callback
"mercury/angles_goal", MercurySetAngles, callback=callback
)
rospy.spin()
@ -178,7 +178,7 @@ class CobotXTopics(object):
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"cobotx/coords_goal", CobotXSetCoords, callback=callback
"mercury/coords_goal", MercurySetCoords, callback=callback
)
rospy.spin()
@ -192,7 +192,7 @@ class CobotXTopics(object):
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"cobotx/gripper_status", CobotXGripperStatus, callback=callback
"mercury/gripper_status", MercuryGripperStatus, callback=callback
)
rospy.spin()
@ -206,14 +206,14 @@ class CobotXTopics(object):
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"cobotx/pump_status", CobotXPumpStatus, callback=callback
"mercury/pump_status", MercuryPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = CobotXTopics()
mc_topics = MercuryTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()

0
CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py → Mercury/mercury_a1_communication/scripts/mercury_topics_jsnn.py
View file

42
CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py → Mercury/mercury_a1_communication/scripts/mercury_topics_pi.py
View file

@ -8,17 +8,17 @@ import threading
import rospy
from cobotx_a450_communication.msg import (
CobotXAngles,
CobotXCoords,
CobotXSetAngles,
CobotXSetCoords,
CobotXGripperStatus,
CobotXPumpStatus,
from mercury_a1_communication.msg import (
MercuryAngles,
MercuryCoords,
MercurySetAngles,
MercurySetCoords,
MercuryGripperStatus,
MercuryPumpStatus,
)
from pymycobot import CobotX
from pymycobot.mercury import Mercury
class Watcher:
@ -66,18 +66,18 @@ class Watcher:
pass
class CobotXTopics(object):
class MercuryTopics(object):
def __init__(self):
super(CobotXTopics, self).__init__()
super(MercuryTopics, self).__init__()
rospy.init_node("cobotx_topics_pi")
rospy.init_node("mercury_topics_pi")
rospy.loginfo("start ...")
# problem
# port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
port = rospy.get_param("~port", "/dev/ttyAMA1")
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mc = CobotX(port, baud)
self.mc = Mercury(port, baud)
self.lock = threading.Lock()
def start(self):
@ -111,8 +111,8 @@ class CobotXTopics(object):
def pub_real_angles(self):
"""Publish real angle"""
"""发布真实角度"""
pub = rospy.Publisher("cobotx/angles_real", CobotXAngles, queue_size=5)
ma = CobotXAngles()
pub = rospy.Publisher("mercury/angles_real", MercuryAngles, queue_size=5)
ma = MercuryAngles()
while not rospy.is_shutdown():
self.lock.acquire()
angles = self.mc.get_angles()
@ -131,8 +131,8 @@ class CobotXTopics(object):
def pub_real_coords(self):
"""publish real coordinates"""
"""发布真实坐标"""
pub = rospy.Publisher("cobotx/coords_real", CobotXCoords, queue_size=5)
ma = CobotXCoords()
pub = rospy.Publisher("mercury/coords_real", MercuryCoords, queue_size=5)
ma = MercuryCoords()
while not rospy.is_shutdown():
self.lock.acquire()
@ -165,7 +165,7 @@ class CobotXTopics(object):
self.mc.send_angles(angles, sp)
sub = rospy.Subscriber(
"cobotx/angles_goal", CobotXSetAngles, callback=callback
"mercury/angles_goal", MercurySetAngles, callback=callback
)
rospy.spin()
@ -177,7 +177,7 @@ class CobotXTopics(object):
self.mc.send_coords(angles, sp, model)
sub = rospy.Subscriber(
"cobotx/coords_goal", CobotXSetCoords, callback=callback
"mercury/coords_goal", MercurySetCoords, callback=callback
)
rospy.spin()
@ -191,7 +191,7 @@ class CobotXTopics(object):
self.mc.set_gripper_state(1, 80)
sub = rospy.Subscriber(
"cobotx/gripper_status", CobotXGripperStatus, callback=callback
"mercury/gripper_status", MercuryGripperStatus, callback=callback
)
rospy.spin()
@ -205,13 +205,13 @@ class CobotXTopics(object):
self.mc.set_basic_output(data.Pin2, 1)
sub = rospy.Subscriber(
"cobotx/pump_status", CobotXPumpStatus, callback=callback
"mercury/pump_status", MercuryPumpStatus, callback=callback
)
rospy.spin()
if __name__ == "__main__":
Watcher()
mc_topics = CobotXTopics()
mc_topics = MercuryTopics()
mc_topics.start()
# while True:
# mc_topics.pub_real_coords()

0
CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py → Mercury/mercury_a1_communication/scripts/mercury_topics_seeed.py
View file

0
CobotX/cobotx_a450_communication/srv/GetAngles.srv → Mercury/mercury_a1_communication/srv/GetAngles.srv
View file

0
CobotX/cobotx_a450_communication/srv/GetCoords.srv → Mercury/mercury_a1_communication/srv/GetCoords.srv
View file

0
CobotX/cobotx_a450_communication/srv/GripperStatus.srv → Mercury/mercury_a1_communication/srv/GripperStatus.srv
View file

0
CobotX/cobotx_a450_communication/srv/PumpStatus.srv → Mercury/mercury_a1_communication/srv/PumpStatus.srv
View file

0
CobotX/cobotx_a450_communication/srv/SetAngles.srv → Mercury/mercury_a1_communication/srv/SetAngles.srv
View file

0
CobotX/cobotx_a450_communication/srv/SetCoords.srv → Mercury/mercury_a1_communication/srv/SetCoords.srv
View file

2
CobotX/cobotx_a450_moveit/.setup_assistant → Mercury/mercury_a1_moveit/.setup_assistant
View file

@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/cobotx_a450/cobotx_a450.urdf
relative_path: urdf/mercury_a1/mercury_a1.urdf
xacro_args: "--inorder "
SRDF:
relative_path: config/firefighter.srdf

2
CobotX/cobotx_a450_moveit/CMakeLists.txt → Mercury/mercury_a1_moveit/CMakeLists.txt
View file

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.1.3)
project(cobotx_a450_moveit)
project(mercury_a1_moveit)
find_package(catkin REQUIRED)

0
CobotX/cobotx_a450_moveit/LICENSE → Mercury/mercury_a1_moveit/LICENSE
View file

0
CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml → Mercury/mercury_a1_moveit/config/cartesian_limits.yaml
View file

0
CobotX/cobotx_a450_moveit/config/chomp_planning.yaml → Mercury/mercury_a1_moveit/config/chomp_planning.yaml
View file

0
CobotX/cobotx_a450_moveit/config/fake_controllers.yaml → Mercury/mercury_a1_moveit/config/fake_controllers.yaml
View file

0
CobotX/cobotx_a450_moveit/config/firefighter.srdf → Mercury/mercury_a1_moveit/config/firefighter.srdf
View file

0
CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml → Mercury/mercury_a1_moveit/config/gazebo_controllers.yaml
View file

0
CobotX/cobotx_a450_moveit/config/joint_limits.yaml → Mercury/mercury_a1_moveit/config/joint_limits.yaml
View file

0
CobotX/cobotx_a450_moveit/config/kinematics.yaml → Mercury/mercury_a1_moveit/config/kinematics.yaml
View file

0
CobotX/cobotx_a450_moveit/config/ompl_planning.yaml → Mercury/mercury_a1_moveit/config/ompl_planning.yaml
View file

0
CobotX/cobotx_a450_moveit/config/ros_controllers.yaml → Mercury/mercury_a1_moveit/config/ros_controllers.yaml
View file

0
CobotX/cobotx_a450_moveit/config/sensors_3d.yaml → Mercury/mercury_a1_moveit/config/sensors_3d.yaml
View file

0
CobotX/cobotx_a450_moveit/config/simple_moveit_controllers.yaml → Mercury/mercury_a1_moveit/config/simple_moveit_controllers.yaml
View file

0
CobotX/cobotx_a450_moveit/config/stomp_planning.yaml → Mercury/mercury_a1_moveit/config/stomp_planning.yaml
View file

2
CobotX/cobotx_a450_moveit/launch/chomp_planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/chomp_planning_pipeline.launch.xml
View file

@ -17,5 +17,5 @@
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/chomp_planning.yaml" />
<rosparam command="load" file="$(find mercury_a1_moveit)/config/chomp_planning.yaml" />
</launch>

2
CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch → Mercury/mercury_a1_moveit/launch/default_warehouse_db.launch
View file

@ -2,7 +2,7 @@
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
<arg name="moveit_warehouse_database_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">

2
CobotX/cobotx_a450_moveit/launch/demo.launch → Mercury/mercury_a1_moveit/launch/demo.launch
View file

@ -6,7 +6,7 @@
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
<arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />

0
CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch → Mercury/mercury_a1_moveit/launch/demo_gazebo.launch
View file

2
CobotX/cobotx_a450_moveit/launch/fake_moveit_controller_manager.launch.xml → Mercury/mercury_a1_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -7,6 +7,6 @@
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find cobotx_a450_moveit)/config/fake_controllers.yaml"/>
<rosparam subst_value="true" file="$(find mercury_a1_moveit)/config/fake_controllers.yaml"/>
</launch>

2
CobotX/cobotx_a450_moveit/launch/firefighter_moveit_controller_manager.launch.xml → Mercury/mercury_a1_moveit/launch/firefighter_moveit_controller_manager.launch.xml
View file

@ -6,5 +6,5 @@
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- loads ros_controllers to the param server -->
<rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml"/>
<rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml"/>
</launch>

0
CobotX/cobotx_a450_moveit/launch/firefighter_moveit_sensor_manager.launch.xml → Mercury/mercury_a1_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
View file

4
CobotX/cobotx_a450_moveit/launch/gazebo.launch → Mercury/mercury_a1_moveit/launch/gazebo.launch
View file

@ -13,7 +13,7 @@
</include>
<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf" />
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf" />
<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
@ -23,7 +23,7 @@
respawn="false" output="screen" />
<!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find cobotx_a450_moveit)/config/gazebo_controllers.yaml" />
<rosparam file="$(find mercury_a1_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->

0
CobotX/cobotx_a450_moveit/launch/joystick_control.launch → Mercury/mercury_a1_moveit/launch/joystick_control.launch
View file

67
Mercury/mercury_a1_moveit/launch/mercury_a1.launch Normal file
View file

@ -0,0 +1,67 @@
<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

0
CobotX/cobotx_a450_moveit/launch/move_group.launch → Mercury/mercury_a1_moveit/launch/move_group.launch
View file

0
CobotX/cobotx_a450_moveit/launch/moveit.rviz → Mercury/mercury_a1_moveit/launch/moveit.rviz
View file

0
CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch → Mercury/mercury_a1_moveit/launch/moveit_rviz.launch
View file

10
CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch → Mercury/mercury_a1_moveit/launch/mycobot_moveit.launch
View file

@ -5,7 +5,7 @@
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
<arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
@ -22,7 +22,7 @@
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find cobotx_a450_moveit)/launch/planning_context.launch">
<include file="$(find mercury_a1_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
@ -42,7 +42,7 @@
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find cobotx_a450_moveit)/launch/move_group.launch">
<include file="$(find mercury_a1_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
@ -51,14 +51,14 @@
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find cobotx_a450_moveit)/launch/moveit_rviz.launch">
<include file="$(find mercury_a1_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find cobotx_a450_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mercury_a1_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

4
CobotX/cobotx_a450_moveit/launch/ompl-chomp_planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
View file

@ -1,6 +1,6 @@
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find cobotx_a450_moveit)/launch/ompl_planning_pipeline.launch.xml">
<include file="$(find mercury_a1_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
@ -13,7 +13,7 @@
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/chomp_planning.yaml" />
<rosparam command="load" file="$(find mercury_a1_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>

2
CobotX/cobotx_a450_moveit/launch/ompl_planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -19,6 +19,6 @@
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/ompl_planning.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/ompl_planning.yaml"/>
</launch>

0
CobotX/cobotx_a450_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
View file

10
CobotX/cobotx_a450_moveit/launch/planning_context.launch → Mercury/mercury_a1_moveit/launch/planning_context.launch
View file

@ -6,20 +6,20 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find cobotx_a450_moveit)/config/firefighter.srdf" />
<param name="$(arg robot_description)_semantic" textfile="$(find mercury_a1_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/cartesian_limits.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/kinematics.yaml"/>
</group>

0
CobotX/cobotx_a450_moveit/launch/planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/planning_pipeline.launch.xml
View file

0
CobotX/cobotx_a450_moveit/launch/ros_control_moveit_controller_manager.launch.xml → Mercury/mercury_a1_moveit/launch/ros_control_moveit_controller_manager.launch.xml
View file

2
CobotX/cobotx_a450_moveit/launch/ros_controllers.launch → Mercury/mercury_a1_moveit/launch/ros_controllers.launch
View file

@ -2,7 +2,7 @@
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml" command="load"/>
<rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

2
CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch → Mercury/mercury_a1_moveit/launch/run_benchmark_ompl.launch
View file

@ -15,7 +15,7 @@
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/ompl_planning.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

2
CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml → Mercury/mercury_a1_moveit/launch/sensor_manager.launch.xml
View file

@ -3,7 +3,7 @@
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/sensors_3d.yaml" />
<rosparam command="load" file="$(find mercury_a1_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->

2
CobotX/cobotx_a450_moveit/launch/setup_assistant.launch → Mercury/mercury_a1_moveit/launch/setup_assistant.launch
View file

@ -8,7 +8,7 @@
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=cobotx_a450_moveit"
args="--config_pkg=mercury_a1_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />

4
CobotX/cobotx_a450_moveit/launch/simple_moveit_controller_manager.launch.xml → Mercury/mercury_a1_moveit/launch/simple_moveit_controller_manager.launch.xml
View file

@ -3,6 +3,6 @@
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find cobotx_a450_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml" />
<rosparam file="$(find mercury_a1_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml" />
</launch>

2
CobotX/cobotx_a450_moveit/launch/stomp_planning_pipeline.launch.xml → Mercury/mercury_a1_moveit/launch/stomp_planning_pipeline.launch.xml
View file

@ -19,5 +19,5 @@
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/stomp_planning.yaml"/>
<rosparam command="load" file="$(find mercury_a1_moveit)/config/stomp_planning.yaml"/>
</launch>

0
CobotX/cobotx_a450_moveit/launch/trajectory_execution.launch.xml → Mercury/mercury_a1_moveit/launch/trajectory_execution.launch.xml
View file

0
CobotX/cobotx_a450_moveit/launch/warehouse.launch → Mercury/mercury_a1_moveit/launch/warehouse.launch
View file

0
CobotX/cobotx_a450_moveit/launch/warehouse_settings.launch.xml → Mercury/mercury_a1_moveit/launch/warehouse_settings.launch.xml
View file

2
CobotX/cobotx_a450_moveit/package.xml → Mercury/mercury_a1_moveit/package.xml
View file

@ -1,6 +1,6 @@
<package>
<name>cobotx_a450_moveit</name>
<name>mercury_a1_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework

0
CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py → Mercury/mercury_a1_moveit/scripts/obstacle_avoidance_demo.py
View file

10
CobotX/cobotx_a450_moveit/scripts/sync_plan.py → Mercury/mercury_a1_moveit/scripts/sync_plan.py
View file

@ -13,7 +13,7 @@ import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.cobotx import CobotX
from pymycobot.mercury import Mercury
mc = None
@ -21,10 +21,12 @@ mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
print(data.position)
# print(data.position)
rounded_data_tuple = tuple(round(value, 2) for value in data.position)
rospy.loginfo(rospy.get_caller_id() + "%s", rounded_data_tuple)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = math.degrees(value)
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
# mc.send_radians(data_list, 80)
@ -40,7 +42,7 @@ def listener():
port = rospy.get_param("~port", "/dev/ttyAMA1")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = CobotX(port, baud)
mc = Mercury(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

44
Mercury/mercury_b1/CMakeLists.txt Normal file
View file

@ -0,0 +1,44 @@
cmake_minimum_required(VERSION 2.8.3)
project(mercury_b1)
add_compile_options(-std=c++11)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
image_transport
cv_bridge
)
## Declare a catkin package
catkin_package(
CATKIN_DEPENDS std_msgs actionlib
)
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
catkin_install_python(PROGRAMS
scripts/follow_display.py
scripts/slider_control.py
scripts/teleop_keyboard.py
scripts/listen_real.py
scripts/listen_real_of_topic.py
# scripts/detect_marker.py
# scripts/following_marker.py
# scripts/follow_and_pump.py
scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# find_package(OpenCV REQUIRED)
# add_executable(opencv_camera src/opencv_camera)
# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
# add_executable(camera_display src/camera_display)
# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

25
Mercury/mercury_b1/LICENSE Executable file
View file

@ -0,0 +1,25 @@
BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

313
Mercury/mercury_b1/config/mercury_b1.rviz Executable file
View file

@ -0,0 +1,313 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Links1/link1_L1
- /RobotModel1/Links1/link1_L1/Position1
- /Axes1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 584
- 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
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link7_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link7_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_eye:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head:
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
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.20000000298023224
Name: Axes
Radius: 0.009999999776482582
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base:
Value: true
link1_L:
Value: true
link1_R:
Value: true
link2_L:
Value: true
link2_R:
Value: true
link3_L:
Value: true
link3_R:
Value: true
link4_L:
Value: true
link4_R:
Value: true
link5_L:
Value: true
link5_R:
Value: true
link6_L:
Value: true
link6_R:
Value: true
link7_L:
Value: true
link7_R:
Value: true
link_body:
Value: true
link_eye:
Value: true
link_head:
Value: true
Marker Alpha: 1
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
link_body:
link1_L:
link2_L:
link3_L:
link4_L:
link5_L:
link6_L:
link7_L:
{}
link1_R:
link2_R:
link3_R:
link4_R:
link5_R:
link6_R:
link7_R:
{}
link_head:
link_eye:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
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: 1.6387460231781006
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
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4097958207130432
Target Frame: <Fixed Frame>
Yaw: 6.260410308837891
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002d3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002d3000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073800000057fc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002d300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

13
Mercury/mercury_b1/launch/mercury_b1_follow.launch Executable file
View file

@ -0,0 +1,13 @@
<launch>
<!-- Load URDF file,加载URDF文件 -->
<arg name="model" default="$(find mycobot_description)/urdf/mercury_b1/mercury_b1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_b1)/config/mercury_b1.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 Rviza,显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

23
Mercury/mercury_b1/launch/simple_gui.launch Executable file
View file

@ -0,0 +1,23 @@
<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA1" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
<arg name="gui" default="false" />
<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" />
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mercury_a1_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
<node name="simple_gui" pkg="mercury_a1" type="simple_gui.py" />
</launch>

24
Mercury/mercury_b1/launch/slider_control.launch Executable file
View file

@ -0,0 +1,24 @@
<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="$(find mycobot_description)/urdf/mercury_b1/mercury_b1.urdf"/>
<arg name="rvizconfig" default="$(find mercury_b1)/config/mercury_b1.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

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