mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add mybuddy_socket ros
This commit is contained in:
weijian
parent
ef2fd2dc1a
commit
4b70ba8ac0
63 changed files with 3727 additions and 0 deletions
36
Mybuddy/mybuddy_socket/CMakeLists.txt
Normal file
36
Mybuddy/mybuddy_socket/CMakeLists.txt
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@ -0,0 +1,36 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(mybuddy_socket)
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add_compile_options(-std=c++11)
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## Find catkin and any catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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actionlib
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)
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## Declare a catkin package
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catkin_package(
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CATKIN_DEPENDS std_msgs actionlib
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)
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## Build talker and listener
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include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
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catkin_install_python(PROGRAMS
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scripts/follow_display.py
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scripts/slider_control.py
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scripts/teleop_keyboard.py
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scripts/listen_real.py
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scripts/listen_real_of_topic.py
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scripts/simple_gui.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN "setup_assistant.launch" EXCLUDE)
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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25
Mybuddy/mybuddy_socket/LICENSE
Normal file
25
Mybuddy/mybuddy_socket/LICENSE
Normal file
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@ -0,0 +1,25 @@
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BSD 2-Clause License
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Copyright (c) 2020, Elephant Robotics
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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269
Mybuddy/mybuddy_socket/config/dual_arm.rviz
Normal file
269
Mybuddy/mybuddy_socket/config/dual_arm.rviz
Normal file
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@ -0,0 +1,269 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Axes1
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- /TF1
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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 607
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/Axes
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Enabled: true
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Length: 0.100000001
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Name: Axes
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Radius: 0.00999999978
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link4_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link4_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link5_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link5_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link6_L:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link6_R:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base:
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Value: true
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link1:
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Value: true
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link1_L:
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Value: true
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link1_R:
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Value: true
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link2_L:
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Value: true
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link2_R:
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Value: true
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link3_L:
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Value: true
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link3_R:
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Value: true
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link4_L:
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Value: true
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link4_R:
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Value: true
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link5_L:
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Value: true
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link5_R:
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Value: true
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link6_L:
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Value: true
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link6_R:
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Value: true
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Marker Scale: 0.2
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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base:
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link1:
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link1_L:
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link2_L:
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link3_L:
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link4_L:
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link5_L:
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link6_L:
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{}
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link1_R:
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link2_R:
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link3_R:
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link4_R:
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link5_R:
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link6_R:
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{}
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Update Interval: 0
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||||
Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
|
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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||||
Value: true
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||||
Views:
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||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.71708035
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
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||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
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||||
Y: 0
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||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
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||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.219795272
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
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||||
Yaw: 3.67218757
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||||
Saved: ~
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||||
Window Geometry:
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||||
Displays:
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||||
collapsed: false
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||||
Height: 888
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||||
Hide Left Dock: false
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||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006450000003efc0100000002fb0000000800540069006d00650100000000000006450000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004d5000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1605
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X: 290
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Y: 26
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203
Mybuddy/mybuddy_socket/config/mycobot.rviz
Normal file
203
Mybuddy/mybuddy_socket/config/mycobot.rviz
Normal file
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@ -0,0 +1,203 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
|
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /TF1
|
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Splitter Ratio: 0.5
|
||||
Tree Height: 775
|
||||
- Class: rviz/Selection
|
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Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
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- /2D Pose Estimate1
|
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- /2D Nav Goal1
|
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- /Publish Point1
|
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Name: Tool Properties
|
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Splitter Ratio: 0.588679016
|
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- Class: rviz/Views
|
||||
Expanded:
|
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- /Current View1
|
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Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
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: 0.0299999993
|
||||
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
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
joint1:
|
||||
Value: true
|
||||
joint2:
|
||||
Value: true
|
||||
joint3:
|
||||
Value: true
|
||||
joint4:
|
||||
Value: true
|
||||
joint5:
|
||||
Value: true
|
||||
joint6:
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Value: true
|
||||
Marker Scale: 0.300000012
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint6_flange:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: joint1
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- 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: 1.20289087
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.0706475973
|
||||
Y: -0.0814988762
|
||||
Z: 0.107583851
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.440398335
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.430389732
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1056
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1855
|
||||
X: 65
|
||||
Y: 24
|
||||
216
Mybuddy/mybuddy_socket/config/mycobot_with_marker.rviz
Normal file
216
Mybuddy/mybuddy_socket/config/mycobot_with_marker.rviz
Normal file
|
|
@ -0,0 +1,216 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /TF1
|
||||
- /Marker1
|
||||
- /Marker1/Namespaces1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 775
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
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: 0.0299999993
|
||||
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
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
basic_shapes:
|
||||
Value: true
|
||||
joint1:
|
||||
Value: true
|
||||
joint2:
|
||||
Value: true
|
||||
joint3:
|
||||
Value: true
|
||||
joint4:
|
||||
Value: true
|
||||
joint5:
|
||||
Value: true
|
||||
joint6:
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Value: true
|
||||
Marker Scale: 0.300000012
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint6_flange:
|
||||
basic_shapes:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Marker
|
||||
Enabled: true
|
||||
Marker Topic: /visualization_marker
|
||||
Name: Marker
|
||||
Namespaces:
|
||||
basic_cube: true
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: joint1
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- 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: 2.11990476
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.0706475973
|
||||
Y: -0.0814988762
|
||||
Z: 0.107583851
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.375398338
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.235389769
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1056
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1855
|
||||
X: 65
|
||||
Y: 24
|
||||
11
Mybuddy/mybuddy_socket/launch/mybuddy_follow.launch
Normal file
11
Mybuddy/mybuddy_socket/launch/mybuddy_follow.launch
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
|
||||
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
|
||||
</node>
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
22
Mybuddy/mybuddy_socket/launch/simple_gui.launch
Normal file
22
Mybuddy/mybuddy_socket/launch/simple_gui.launch
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyACM0" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to 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 $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find mycobot_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
|
||||
<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
|
||||
</launch>
|
||||
24
Mybuddy/mybuddy_socket/launch/slider_control.launch
Normal file
24
Mybuddy/mybuddy_socket/launch/slider_control.launch
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="control_slider.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
21
Mybuddy/mybuddy_socket/launch/teleop_keyboard.launch
Normal file
21
Mybuddy/mybuddy_socket/launch/teleop_keyboard.launch
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyACM0" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to 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 $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find mycobot_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
|
||||
</launch>
|
||||
18
Mybuddy/mybuddy_socket/launch/test.launch
Normal file
18
Mybuddy/mybuddy_socket/launch/test.launch
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mybuddy)/config/dual_arm.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
<!-- <node name="rviz" pkg="rviz" type="rviz" /> -->
|
||||
|
||||
</launch>
|
||||
47
Mybuddy/mybuddy_socket/package.xml
Normal file
47
Mybuddy/mybuddy_socket/package.xml
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>mybuddy_socket</name>
|
||||
<version>0.3.0</version>
|
||||
<description>The mybuddy_socket package</description>
|
||||
|
||||
<author email="lijun.zhang@elephantrobotics.com">ZhangLijun</author>
|
||||
<maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">https://github.com/elephantrobotics/mycobot_ros</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>actionlib</build_depend>
|
||||
<build_depend>mycobot_description</build_depend>
|
||||
<build_depend>mybuddy_communication</build_depend>
|
||||
|
||||
<build_export_depend>mybuddy_communication</build_export_depend>
|
||||
<build_export_depend>mycobot_description</build_export_depend>
|
||||
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>actionlib</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>joy</exec_depend>
|
||||
<exec_depend>rviz</exec_depend>
|
||||
<exec_depend>controller_manager</exec_depend>
|
||||
<exec_depend>python-tk</exec_depend>
|
||||
<exec_depend>mycobot_description</exec_depend>
|
||||
<exec_depend>mybuddy_communication</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
140
Mybuddy/mybuddy_socket/scripts/follow_display.py
Executable file
140
Mybuddy/mybuddy_socket/scripts/follow_display.py
Executable file
|
|
@ -0,0 +1,140 @@
|
|||
#!/usr/bin/env python3
|
||||
import time
|
||||
import os
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
from pymycobot.mybuddysocket import MyBuddySocket
|
||||
import math
|
||||
|
||||
def talker():
|
||||
rospy.init_node("display", anonymous=True)
|
||||
|
||||
print("Try connect real mybuddy...")
|
||||
ip = rospy.get_param("~ip", "192.168.123.240")
|
||||
port = rospy.get_param("~port", 9000)
|
||||
print("ip: {}, port: {}\n".format(ip, port))
|
||||
try:
|
||||
mb = MyBuddySocket(ip, port)
|
||||
mb.connect(serialport="/dev/ttyACM0", baudrate="115200")
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print(
|
||||
"""\
|
||||
\rTry connect mybuddy failed!
|
||||
\rPlease check wether connected with mybuddy.
|
||||
\rPlease chckt wether the port or baud is right.
|
||||
"""
|
||||
)
|
||||
exit(1)
|
||||
|
||||
mb.release_all_servos()
|
||||
time.sleep(0.5)
|
||||
print("Rlease all servos over.\n")
|
||||
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=20)
|
||||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=20)
|
||||
rate = rospy.Rate(30) # hz
|
||||
|
||||
# pub joint state
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint1_L",
|
||||
"joint2_L",
|
||||
"joint3_L",
|
||||
"joint4_L",
|
||||
"joint5_L",
|
||||
"joint6_L",
|
||||
"joint1_R",
|
||||
"joint2_R",
|
||||
"joint3_R",
|
||||
"joint4_R",
|
||||
"joint5_R",
|
||||
"joint6_R",
|
||||
"base_link1",
|
||||
|
||||
]
|
||||
joint_state_send.velocity = [0.0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/base_link1"
|
||||
marker_.ns = "my_namespace"
|
||||
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
left_radians = mb.get_radians(1)
|
||||
|
||||
right_radians = mb.get_radians(2)
|
||||
|
||||
wangles = mb.get_angles(3)[0]*(math.pi/180)
|
||||
waist_radian =[]
|
||||
waist_radian.append(wangles)
|
||||
|
||||
print('left:',left_radians,'right:',right_radians,'w:',waist_radian)
|
||||
|
||||
# =======all_radians=======
|
||||
all_radians = left_radians + right_radians + waist_radian
|
||||
data_list = []
|
||||
for index, value in enumerate(all_radians):
|
||||
data_list.append(value)
|
||||
|
||||
# rospy.loginfo('{}'.format(data_list))
|
||||
joint_state_send.position = data_list
|
||||
|
||||
print("all_radians: %s" % data_list)
|
||||
|
||||
pub.publish(joint_state_send)
|
||||
|
||||
# =======left_coords=======
|
||||
left_coords = mb.get_coords(1)
|
||||
|
||||
# =======right_coords=======
|
||||
right_coords = mb.get_coords(2)
|
||||
|
||||
waist_coords = mb.get_angles(3)
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = rospy.Time.now()
|
||||
marker_.type = marker_.SPHERE
|
||||
marker_.action = marker_.ADD
|
||||
marker_.scale.x = 0.04
|
||||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
marker_.pose.position.x = left_coords[1] / 1000 * -1
|
||||
marker_.pose.position.y = left_coords[0] / 1000
|
||||
marker_.pose.position.z = left_coords[2] / 1000
|
||||
|
||||
time.sleep(0.02)
|
||||
|
||||
marker_.pose.position.x = right_coords[1] / 1000 * -1
|
||||
marker_.pose.position.y = right_coords[0] / 1000
|
||||
marker_.pose.position.z = right_coords[2] / 1000
|
||||
|
||||
time.sleep(0.02)
|
||||
|
||||
marker_.pose.position.x = waist_coords[0] / 1000 * -1
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.r = 0.0
|
||||
marker_.color.g = 1.0
|
||||
marker_.color.b = 0.0
|
||||
pub_marker.publish(marker_)
|
||||
rate.sleep()
|
||||
|
||||
print("\n")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
78
Mybuddy/mybuddy_socket/scripts/listen_real.py
Normal file
78
Mybuddy/mybuddy_socket/scripts/listen_real.py
Normal file
|
|
@ -0,0 +1,78 @@
|
|||
#!/usr/bin/env python3
|
||||
# license removed for brevity
|
||||
import time
|
||||
import math
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from mycobot_communication.srv import GetAngles
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener", anonymous=True)
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=15)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
# "joint2_to_joint1",
|
||||
# "joint3_to_joint2",
|
||||
# "joint4_to_joint3",
|
||||
# "joint5_to_joint4",
|
||||
# "joint6_to_joint5",
|
||||
# "joint6output_to_joint6",
|
||||
"base_link1",
|
||||
"joint1_L",
|
||||
"joint2_L",
|
||||
"joint3_L",
|
||||
"joint4_L",
|
||||
"joint5_L",
|
||||
"joint6_L",
|
||||
"joint1_R",
|
||||
"joint2_R",
|
||||
"joint3_R",
|
||||
"joint4_R",
|
||||
"joint5_R",
|
||||
"joint6_R",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
# waiting util server `get_joint_angles` enable.
|
||||
rospy.loginfo("wait service")
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
func = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
|
||||
rospy.loginfo("start loop ...")
|
||||
while not rospy.is_shutdown():
|
||||
# get real angles from server.
|
||||
res = func()
|
||||
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
|
||||
continue
|
||||
radians_list = [
|
||||
res.joint_1 * (math.pi / 180),
|
||||
res.joint_2 * (math.pi / 180),
|
||||
res.joint_3 * (math.pi / 180),
|
||||
res.joint_4 * (math.pi / 180),
|
||||
res.joint_5 * (math.pi / 180),
|
||||
res.joint_6 * (math.pi / 180),
|
||||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
# publish angles.
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
joint_state_send.position = radians_list
|
||||
pub.publish(joint_state_send)
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
63
Mybuddy/mybuddy_socket/scripts/listen_real_of_topic.py
Normal file
63
Mybuddy/mybuddy_socket/scripts/listen_real_of_topic.py
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
#!/usr/bin/env python2
|
||||
import math
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from mycobot_communication.msg import MycobotAngles
|
||||
|
||||
|
||||
class Listener(object):
|
||||
def __init__(self):
|
||||
super(Listener, self).__init__()
|
||||
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener_1", anonymous=True)
|
||||
# init publisher.
|
||||
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
# init subscriber.
|
||||
self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback)
|
||||
rospy.spin()
|
||||
|
||||
def callback(self, data):
|
||||
"""`mycobot/angles_real` subscriber callback method.
|
||||
|
||||
Args:
|
||||
data (MycobotAngles): callback argument.
|
||||
"""
|
||||
# ini publisher object.
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
# process callback data.
|
||||
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),
|
||||
]
|
||||
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
|
||||
474
Mybuddy/mybuddy_socket/scripts/simple_gui.py
Normal file
474
Mybuddy/mybuddy_socket/scripts/simple_gui.py
Normal file
|
|
@ -0,0 +1,474 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
import tkinter as tk
|
||||
from mycobot_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) # 固定窗口大小
|
||||
|
||||
self.model = 0
|
||||
self.speed = rospy.get_param("~speed", 50)
|
||||
|
||||
# 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
|
||||
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
|
||||
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
|
||||
x = (self.ws / 2) - 190
|
||||
y = (self.hs / 2) - 250
|
||||
self.win.geometry("430x370+{}+{}".format(x, y))
|
||||
# 布局
|
||||
self.set_layout()
|
||||
# 输入部分
|
||||
self.need_input()
|
||||
# 展示部分
|
||||
self.show_init()
|
||||
|
||||
# joint 设置按钮
|
||||
tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# coordination 设置按钮
|
||||
tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# 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):
|
||||
# 输入提示
|
||||
tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # 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.frmRT, text=" x ").grid(row=0)
|
||||
tk.Label(self.frmRT, text=" y ").grid(row=1) # 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)
|
||||
|
||||
# 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.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 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)
|
||||
|
||||
# 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)
|
||||
|
||||
# 所有输入框，用于拿输入的数据
|
||||
self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6]
|
||||
self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]
|
||||
|
||||
# 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):
|
||||
# 显示
|
||||
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # 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)
|
||||
|
||||
# get数据
|
||||
|
||||
# ，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_all = [
|
||||
self.cont_1,
|
||||
self.cont_2,
|
||||
self.cont_3,
|
||||
self.cont_4,
|
||||
self.cont_5,
|
||||
self.cont_6,
|
||||
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.all_jo = [
|
||||
self.show_j1,
|
||||
self.show_j2,
|
||||
self.show_j3,
|
||||
self.show_j4,
|
||||
self.show_j5,
|
||||
self.show_j6,
|
||||
]
|
||||
|
||||
# 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=" 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 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:
|
||||
# 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):
|
||||
# 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):
|
||||
# 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):
|
||||
# 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),
|
||||
]
|
||||
# print('coord:',self.record_coords)
|
||||
# print('angles:',self.res_angles)
|
||||
|
||||
# def send_input(self,dates):
|
||||
def show_j_date(self, date, way=""):
|
||||
# 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("mycobot ros GUI")
|
||||
Window(window).run()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
67
Mybuddy/mybuddy_socket/scripts/slider_control.py
Executable file
67
Mybuddy/mybuddy_socket/scripts/slider_control.py
Executable file
|
|
@ -0,0 +1,67 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
"""[summary]
|
||||
This file obtains the joint angle of the manipulator in ROS,
|
||||
and then sends it directly to the real manipulator using `pymycobot` API.
|
||||
This file is [slider_control.launch] related script.
|
||||
Passable parameters:
|
||||
port: serial prot string. Defaults is '/dev/ttyACM0'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from pymycobot.mybuddysocket import MyBuddySocket
|
||||
import time
|
||||
import os
|
||||
import math
|
||||
|
||||
mb = None
|
||||
|
||||
def callback(data):
|
||||
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
|
||||
# print(data.position)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(value)
|
||||
|
||||
|
||||
print(data_list)
|
||||
|
||||
data_list1 = data_list[:6]
|
||||
data_list2 = data_list[6:-1]
|
||||
data_list3 = data_list[-1:]
|
||||
|
||||
print("left_arm: %s" % data_list1)
|
||||
print("right_arm: %s" % data_list2)
|
||||
print("waist: %s" % data_list3)
|
||||
|
||||
mb.send_radians(1,data_list1, 50)
|
||||
time.sleep(0.02)
|
||||
mb.send_radians(2,data_list2, 50)
|
||||
time.sleep(0.02)
|
||||
|
||||
# print(data_list3[0]* (180 / math.pi))
|
||||
print("\n")
|
||||
|
||||
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
|
||||
# mb.send_radians(3,data_list3, 50)
|
||||
time.sleep(0.02)
|
||||
|
||||
def listener():
|
||||
global mb
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
ip = rospy.get_param("~ip", "192.168.123.240")
|
||||
port = rospy.get_param("~port", 9000)
|
||||
print(ip, port)
|
||||
mb = MyBuddySocket(ip, port)
|
||||
mb.connect(serialport="/dev/ttyACM0", baudrate="115200")
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
172
Mybuddy/mybuddy_socket/scripts/teleop_keyboard.py
Normal file
172
Mybuddy/mybuddy_socket/scripts/teleop_keyboard.py
Normal file
|
|
@ -0,0 +1,172 @@
|
|||
#!/usr/bin/env python3
|
||||
from __future__ import print_function
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
import sys
|
||||
import select
|
||||
import termios
|
||||
import tty
|
||||
import time
|
||||
|
||||
import roslib
|
||||
|
||||
|
||||
msg = """\
|
||||
Mycobot 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 = 0
|
||||
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, speed]
|
||||
home_pose = [0, 0, 0, 0, 0, 0, speed]
|
||||
|
||||
# rsp = set_angles(*init_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(record_coords)
|
||||
|
||||
try:
|
||||
print(msg)
|
||||
print(vels(speed, change_percent))
|
||||
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)
|
||||
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
|
||||
44
Mybuddy/mybuddy_socket/scripts/test_control.py
Normal file
44
Mybuddy/mybuddy_socket/scripts/test_control.py
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
from time import time
|
||||
from pymycobot.mybuddy import MyBuddy
|
||||
import rospy
|
||||
import time
|
||||
import os
|
||||
|
||||
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mb = MyBuddy(port, baud)
|
||||
|
||||
# mb.set_free_mode(2)
|
||||
# mb.power_on()
|
||||
# mb.release_all_servos()
|
||||
# mb.set_servo_calibration(3,1)
|
||||
|
||||
# i = 1
|
||||
# while i < 7:
|
||||
# mb.release_servo(2,i)
|
||||
# i += 1
|
||||
# time.sleep(1)
|
||||
|
||||
'''
|
||||
------------get info--------------
|
||||
'''
|
||||
# print(mb.get_radians(1))
|
||||
# print(mb.get_encoders(3))
|
||||
# print(mb.get_encoder(1,1))
|
||||
# print(mb.get_angles(1))
|
||||
# print(mb.get_coords(1))
|
||||
# print(mb.get_coords(2))
|
||||
# print("\n")
|
||||
|
||||
'''
|
||||
------------send info--------------
|
||||
'''
|
||||
# mb.send_radians(2,[-0.136, -0.462, -0.62, 0.813, 0.218, -0.071],30)
|
||||
# mb.send_angles(2,[6.32, -94.39, 13.62, -15.38, -94.21, 62.84],30,1)
|
||||
# time.sleep(2)
|
||||
print(mb.get_angles(3))
|
||||
# mb.send_angles(1,[0,0,0,0,0,0],30,0)
|
||||
# mb.send_angle(1,3,30,30)
|
||||
# mb.set_encoder(3,1,2048,1)
|
||||
time.sleep(1)
|
||||
29
Mybuddy/mybuddy_socket/src/camera_display.cpp
Normal file
29
Mybuddy/mybuddy_socket/src/camera_display.cpp
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
#include <ros/ros.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
void imageCallback(const sensor_msgs::ImageConstPtr &msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
|
||||
cv::waitKey(30);
|
||||
}
|
||||
catch (cv_bridge::Exception &e)
|
||||
{
|
||||
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "image_listener");
|
||||
ros::NodeHandle nh;
|
||||
cv::namedWindow("view");
|
||||
cv::startWindowThread();
|
||||
image_transport::ImageTransport it(nh);
|
||||
image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
|
||||
ros::spin();
|
||||
cv::destroyWindow("view");
|
||||
}
|
||||
59
Mybuddy/mybuddy_socket/src/opencv_camera.cpp
Normal file
59
Mybuddy/mybuddy_socket/src/opencv_camera.cpp
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
#include <ros/ros.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <sstream> // for converting the command line parameter to integer
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
// Check if video source has been passed as a parameter
|
||||
if (argv[1] == NULL)
|
||||
{
|
||||
ROS_INFO("argv[1]=NULL\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ros::init(argc, argv, "image_publisher"); // Initialize node
|
||||
ros::NodeHandle nh;
|
||||
image_transport::ImageTransport it(nh);
|
||||
image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic
|
||||
|
||||
ros::Rate loop_rate(200); // refresh Hz.
|
||||
|
||||
// Convert the passed as command line parameter index for the video device to an integer
|
||||
std::istringstream video_sourceCmd(argv[1]);
|
||||
int video_source;
|
||||
// Check if it is indeed a number
|
||||
if (!(video_sourceCmd >> video_source))
|
||||
{
|
||||
ROS_INFO("video_sourceCmd is %d\n", video_source);
|
||||
return 1;
|
||||
}
|
||||
|
||||
cv::VideoCapture cap(video_source);
|
||||
// Check if video device can be opened with the given index
|
||||
if (!cap.isOpened())
|
||||
{
|
||||
ROS_INFO("can not opencv video device\n");
|
||||
return 1;
|
||||
}
|
||||
cv::Mat frame;
|
||||
sensor_msgs::ImagePtr msg;
|
||||
|
||||
while (nh.ok())
|
||||
{
|
||||
cap >> frame;
|
||||
// cv::imshow("veiwer", frame);
|
||||
// Check if grabbed frame is actually full with some content
|
||||
if (!frame.empty())
|
||||
{
|
||||
msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
|
||||
pub.publish(msg);
|
||||
//cv::Wait(1);
|
||||
}
|
||||
ros::spinOnce();
|
||||
loop_rate.sleep();
|
||||
// if(cv::waitKey(2) >= 0)
|
||||
// break;
|
||||
}
|
||||
}
|
||||
11
Mybuddy/mybuddy_socket_moveit/.setup_assistant
Normal file
11
Mybuddy/mybuddy_socket_moveit/.setup_assistant
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
moveit_setup_assistant_config:
|
||||
URDF:
|
||||
package: mycobot_description
|
||||
relative_path: urdf/mybuddy/mybuddy.urdf
|
||||
xacro_args: ""
|
||||
SRDF:
|
||||
relative_path: config/firefighter.srdf
|
||||
CONFIG:
|
||||
author_name: wangweijian
|
||||
author_email: weijian.wang@elephatrobotics.com
|
||||
generated_timestamp: 1661409645
|
||||
10
Mybuddy/mybuddy_socket_moveit/CMakeLists.txt
Normal file
10
Mybuddy/mybuddy_socket_moveit/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
cmake_minimum_required(VERSION 3.1.3)
|
||||
project(mybuddy_socket_moveit)
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
PATTERN "setup_assistant.launch" EXCLUDE)
|
||||
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
cartesian_limits:
|
||||
max_trans_vel: 1
|
||||
max_trans_acc: 2.25
|
||||
max_trans_dec: -5
|
||||
max_rot_vel: 1.57
|
||||
18
Mybuddy/mybuddy_socket_moveit/config/chomp_planning.yaml
Normal file
18
Mybuddy/mybuddy_socket_moveit/config/chomp_planning.yaml
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
planning_time_limit: 10.0
|
||||
max_iterations: 200
|
||||
max_iterations_after_collision_free: 5
|
||||
smoothness_cost_weight: 0.1
|
||||
obstacle_cost_weight: 1.0
|
||||
learning_rate: 0.01
|
||||
smoothness_cost_velocity: 0.0
|
||||
smoothness_cost_acceleration: 1.0
|
||||
smoothness_cost_jerk: 0.0
|
||||
ridge_factor: 0.0
|
||||
use_pseudo_inverse: false
|
||||
pseudo_inverse_ridge_factor: 1e-4
|
||||
joint_update_limit: 0.1
|
||||
collision_clearance: 0.2
|
||||
collision_threshold: 0.07
|
||||
use_stochastic_descent: true
|
||||
enable_failure_recovery: false
|
||||
max_recovery_attempts: 5
|
||||
32
Mybuddy/mybuddy_socket_moveit/config/fake_controllers.yaml
Normal file
32
Mybuddy/mybuddy_socket_moveit/config/fake_controllers.yaml
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
controller_list:
|
||||
- name: fake_right_arm_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_R
|
||||
- joint2_R
|
||||
- joint3_R
|
||||
- joint4_R
|
||||
- joint5_R
|
||||
- joint6_R
|
||||
- name: fake_left_arm_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_L
|
||||
- joint2_L
|
||||
- joint3_L
|
||||
- joint4_L
|
||||
- joint5_L
|
||||
- joint6_L
|
||||
- name: fake_waist_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- base_link1
|
||||
initial: # Define initial robot poses per group
|
||||
- group: right_arm
|
||||
pose: init_right
|
||||
- group: left_arm
|
||||
pose: init_left
|
||||
- group: waist
|
||||
pose: init_waist
|
||||
96
Mybuddy/mybuddy_socket_moveit/config/firefighter.srdf
Normal file
96
Mybuddy/mybuddy_socket_moveit/config/firefighter.srdf
Normal file
|
|
@ -0,0 +1,96 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot name="firefighter">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="right_arm">
|
||||
<chain base_link="base" tip_link="link6_R"/>
|
||||
</group>
|
||||
<group name="left_arm">
|
||||
<chain base_link="base" tip_link="link6_L"/>
|
||||
</group>
|
||||
<group name="waist">
|
||||
<chain base_link="base" tip_link="link1"/>
|
||||
</group>
|
||||
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
|
||||
<group_state name="init_right" group="right_arm">
|
||||
<joint name="base_link1" value="0"/>
|
||||
<joint name="joint1_R" value="0"/>
|
||||
<joint name="joint2_R" value="0"/>
|
||||
<joint name="joint3_R" value="0"/>
|
||||
<joint name="joint4_R" value="0"/>
|
||||
<joint name="joint5_R" value="0"/>
|
||||
<joint name="joint6_R" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="init_left" group="left_arm">
|
||||
<joint name="base_link1" value="0"/>
|
||||
<joint name="joint1_L" value="0"/>
|
||||
<joint name="joint2_L" value="0"/>
|
||||
<joint name="joint3_L" value="0"/>
|
||||
<joint name="joint4_L" value="0"/>
|
||||
<joint name="joint5_L" value="0"/>
|
||||
<joint name="joint6_L" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="init_waist" group="waist">
|
||||
<joint name="base_link1" value="0"/>
|
||||
</group_state>
|
||||
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
|
||||
<virtual_joint name="virtual_left" type="fixed" parent_frame="world" child_link="base"/>
|
||||
<virtual_joint name="virtual_right" type="fixed" parent_frame="world" child_link="base"/>
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
|
||||
<disable_collisions link1="base" link2="link1_L" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link1_R" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link2_L" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link2_R" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link4_L" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="link4_R" reason="Default"/>
|
||||
<disable_collisions link1="link1" link2="link1_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1" link2="link1_R" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1" link2="link2_L" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link2_R" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link3_L" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link3_R" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link5_L" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link5_R" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link6_L" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link6_R" reason="Never"/>
|
||||
<disable_collisions link1="link1_L" link2="link1_R" reason="Never"/>
|
||||
<disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1_L" link2="link2_R" reason="Never"/>
|
||||
<disable_collisions link1="link1_L" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link1_L" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link1_R" link2="link2_L" reason="Never"/>
|
||||
<disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1_R" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link1_R" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link2_L" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link2_L" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent"/>
|
||||
<disable_collisions link1="link2_R" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link2_R" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link3_L" link2="link4_R" reason="Never"/>
|
||||
<disable_collisions link1="link3_R" link2="link4_L" reason="Never"/>
|
||||
<disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent"/>
|
||||
<disable_collisions link1="link4_L" link2="link4_R" reason="Default"/>
|
||||
<disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link4_L" link2="link5_R" reason="Never"/>
|
||||
<disable_collisions link1="link4_L" link2="link6_L" reason="Never"/>
|
||||
<disable_collisions link1="link4_L" link2="link6_R" reason="Never"/>
|
||||
<disable_collisions link1="link4_R" link2="link5_L" reason="Never"/>
|
||||
<disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent"/>
|
||||
<disable_collisions link1="link4_R" link2="link6_L" reason="Never"/>
|
||||
<disable_collisions link1="link4_R" link2="link6_R" reason="Never"/>
|
||||
<disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent"/>
|
||||
<disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent"/>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
# Publish joint_states
|
||||
joint_state_controller:
|
||||
type: joint_state_controller/JointStateController
|
||||
publish_rate: 50
|
||||
75
Mybuddy/mybuddy_socket_moveit/config/joint_limits.yaml
Normal file
75
Mybuddy/mybuddy_socket_moveit/config/joint_limits.yaml
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
base_link1:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint1_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint1_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint2_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint2_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint3_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint3_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint4_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint4_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint5_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint5_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint6_L:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint6_R:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
12
Mybuddy/mybuddy_socket_moveit/config/kinematics.yaml
Normal file
12
Mybuddy/mybuddy_socket_moveit/config/kinematics.yaml
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
right_arm:
|
||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
left_arm:
|
||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
waist:
|
||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
214
Mybuddy/mybuddy_socket_moveit/config/ompl_planning.yaml
Normal file
214
Mybuddy/mybuddy_socket_moveit/config/ompl_planning.yaml
Normal file
|
|
@ -0,0 +1,214 @@
|
|||
planner_configs:
|
||||
AnytimePathShortening:
|
||||
type: geometric::AnytimePathShortening
|
||||
shortcut: true # Attempt to shortcut all new solution paths
|
||||
hybridize: true # Compute hybrid solution trajectories
|
||||
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
|
||||
num_planners: 4 # The number of default planners to use for planning
|
||||
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
|
||||
SBL:
|
||||
type: geometric::SBL
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
EST:
|
||||
type: geometric::EST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LBKPIECE:
|
||||
type: geometric::LBKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
BKPIECE:
|
||||
type: geometric::BKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
KPIECE:
|
||||
type: geometric::KPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
RRT:
|
||||
type: geometric::RRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
RRTConnect:
|
||||
type: geometric::RRTConnect
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
RRTstar:
|
||||
type: geometric::RRTstar
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
|
||||
TRRT:
|
||||
type: geometric::TRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
max_states_failed: 10 # when to start increasing temp. default: 10
|
||||
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
||||
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
||||
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
||||
PRM:
|
||||
type: geometric::PRM
|
||||
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
|
||||
PRMstar:
|
||||
type: geometric::PRMstar
|
||||
FMT:
|
||||
type: geometric::FMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
|
||||
nearest_k: 1 # use Knearest strategy. default: 1
|
||||
cache_cc: 1 # use collision checking cache. default: 1
|
||||
heuristics: 0 # activate cost to go heuristics. default: 0
|
||||
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
BFMT:
|
||||
type: geometric::BFMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
|
||||
nearest_k: 1 # use the Knearest strategy. default: 1
|
||||
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
|
||||
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
|
||||
heuristics: 1 # activates cost to go heuristics. default: 1
|
||||
cache_cc: 1 # use the collision checking cache. default: 1
|
||||
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
PDST:
|
||||
type: geometric::PDST
|
||||
STRIDE:
|
||||
type: geometric::STRIDE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
|
||||
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
|
||||
max_degree: 18 # max degree of a node in the GNAT. default: 12
|
||||
min_degree: 12 # min degree of a node in the GNAT. default: 12
|
||||
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
|
||||
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
|
||||
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
|
||||
BiTRRT:
|
||||
type: geometric::BiTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
||||
init_temperature: 100 # initial temperature. default: 100
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
||||
LBTRRT:
|
||||
type: geometric::LBTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
epsilon: 0.4 # optimality approximation factor. default: 0.4
|
||||
BiEST:
|
||||
type: geometric::BiEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
ProjEST:
|
||||
type: geometric::ProjEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LazyPRM:
|
||||
type: geometric::LazyPRM
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
LazyPRMstar:
|
||||
type: geometric::LazyPRMstar
|
||||
SPARS:
|
||||
type: geometric::SPARS
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 1000 # maximum consecutive failure limit. default: 1000
|
||||
SPARStwo:
|
||||
type: geometric::SPARStwo
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 5000 # maximum consecutive failure limit. default: 5000
|
||||
right_arm:
|
||||
default_planner_config: RRTConnect
|
||||
planner_configs:
|
||||
- AnytimePathShortening
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
- BKPIECE
|
||||
- KPIECE
|
||||
- RRT
|
||||
- RRTConnect
|
||||
- RRTstar
|
||||
- TRRT
|
||||
- PRM
|
||||
- PRMstar
|
||||
- FMT
|
||||
- BFMT
|
||||
- PDST
|
||||
- STRIDE
|
||||
- BiTRRT
|
||||
- LBTRRT
|
||||
- BiEST
|
||||
- ProjEST
|
||||
- LazyPRM
|
||||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
projection_evaluator: joints(base_link1,joint1_R)
|
||||
longest_valid_segment_fraction: 0.005
|
||||
left_arm:
|
||||
default_planner_config: RRTConnect
|
||||
planner_configs:
|
||||
- AnytimePathShortening
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
- BKPIECE
|
||||
- KPIECE
|
||||
- RRT
|
||||
- RRTConnect
|
||||
- RRTstar
|
||||
- TRRT
|
||||
- PRM
|
||||
- PRMstar
|
||||
- FMT
|
||||
- BFMT
|
||||
- PDST
|
||||
- STRIDE
|
||||
- BiTRRT
|
||||
- LBTRRT
|
||||
- BiEST
|
||||
- ProjEST
|
||||
- LazyPRM
|
||||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
projection_evaluator: joints(base_link1,joint1_L)
|
||||
longest_valid_segment_fraction: 0.005
|
||||
waist:
|
||||
default_planner_config: RRTConnect
|
||||
planner_configs:
|
||||
- AnytimePathShortening
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
- BKPIECE
|
||||
- KPIECE
|
||||
- RRT
|
||||
- RRTConnect
|
||||
- RRTstar
|
||||
- TRRT
|
||||
- PRM
|
||||
- PRMstar
|
||||
- FMT
|
||||
- BFMT
|
||||
- PDST
|
||||
- STRIDE
|
||||
- BiTRRT
|
||||
- LBTRRT
|
||||
- BiEST
|
||||
- ProjEST
|
||||
- LazyPRM
|
||||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
102
Mybuddy/mybuddy_socket_moveit/config/ros_controllers.yaml
Normal file
102
Mybuddy/mybuddy_socket_moveit/config/ros_controllers.yaml
Normal file
|
|
@ -0,0 +1,102 @@
|
|||
right_arm_controller:
|
||||
type: effort_controllers/JointTrajectoryController
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_R
|
||||
- joint2_R
|
||||
- joint3_R
|
||||
- joint4_R
|
||||
- joint5_R
|
||||
- joint6_R
|
||||
gains:
|
||||
base_link1:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint1_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint2_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint3_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint4_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint5_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint6_R:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
left_arm_controller:
|
||||
type: effort_controllers/JointTrajectoryController
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_L
|
||||
- joint2_L
|
||||
- joint3_L
|
||||
- joint4_L
|
||||
- joint5_L
|
||||
- joint6_L
|
||||
gains:
|
||||
base_link1:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint1_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint2_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint3_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint4_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint5_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint6_L:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
waist_controller:
|
||||
type: effort_controllers/JointTrajectoryController
|
||||
joints:
|
||||
- base_link1
|
||||
gains:
|
||||
base_link1:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
2
Mybuddy/mybuddy_socket_moveit/config/sensors_3d.yaml
Normal file
2
Mybuddy/mybuddy_socket_moveit/config/sensors_3d.yaml
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
sensors:
|
||||
[]
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
controller_list:
|
||||
- name: right_arm_controller
|
||||
action_ns: follow_joint_trajectory
|
||||
type: FollowJointTrajectory
|
||||
default: True
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_R
|
||||
- joint2_R
|
||||
- joint3_R
|
||||
- joint4_R
|
||||
- joint5_R
|
||||
- joint6_R
|
||||
- name: left_arm_controller
|
||||
action_ns: follow_joint_trajectory
|
||||
type: FollowJointTrajectory
|
||||
default: True
|
||||
joints:
|
||||
- base_link1
|
||||
- joint1_L
|
||||
- joint2_L
|
||||
- joint3_L
|
||||
- joint4_L
|
||||
- joint5_L
|
||||
- joint6_L
|
||||
- name: waist_controller
|
||||
action_ns: follow_joint_trajectory
|
||||
type: FollowJointTrajectory
|
||||
default: True
|
||||
joints:
|
||||
- base_link1
|
||||
117
Mybuddy/mybuddy_socket_moveit/config/stomp_planning.yaml
Normal file
117
Mybuddy/mybuddy_socket_moveit/config/stomp_planning.yaml
Normal file
|
|
@ -0,0 +1,117 @@
|
|||
stomp/right_arm:
|
||||
group_name: right_arm
|
||||
optimization:
|
||||
num_timesteps: 60
|
||||
num_iterations: 40
|
||||
num_iterations_after_valid: 0
|
||||
num_rollouts: 30
|
||||
max_rollouts: 30
|
||||
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||
control_cost_weight: 0.0
|
||||
task:
|
||||
noise_generator:
|
||||
- class: stomp_moveit/NormalDistributionSampling
|
||||
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
|
||||
cost_functions:
|
||||
- class: stomp_moveit/CollisionCheck
|
||||
collision_penalty: 1.0
|
||||
cost_weight: 1.0
|
||||
kernel_window_percentage: 0.2
|
||||
longest_valid_joint_move: 0.05
|
||||
noisy_filters:
|
||||
- class: stomp_moveit/JointLimits
|
||||
lock_start: True
|
||||
lock_goal: True
|
||||
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||
line_width: 0.02
|
||||
rgb: [255, 255, 0]
|
||||
marker_array_topic: stomp_trajectories
|
||||
marker_namespace: noisy
|
||||
update_filters:
|
||||
- class: stomp_moveit/PolynomialSmoother
|
||||
poly_order: 6
|
||||
- class: stomp_moveit/TrajectoryVisualization
|
||||
line_width: 0.05
|
||||
rgb: [0, 191, 255]
|
||||
error_rgb: [255, 0, 0]
|
||||
publish_intermediate: True
|
||||
marker_topic: stomp_trajectory
|
||||
marker_namespace: optimized
|
||||
stomp/left_arm:
|
||||
group_name: left_arm
|
||||
optimization:
|
||||
num_timesteps: 60
|
||||
num_iterations: 40
|
||||
num_iterations_after_valid: 0
|
||||
num_rollouts: 30
|
||||
max_rollouts: 30
|
||||
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||
control_cost_weight: 0.0
|
||||
task:
|
||||
noise_generator:
|
||||
- class: stomp_moveit/NormalDistributionSampling
|
||||
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
|
||||
cost_functions:
|
||||
- class: stomp_moveit/CollisionCheck
|
||||
collision_penalty: 1.0
|
||||
cost_weight: 1.0
|
||||
kernel_window_percentage: 0.2
|
||||
longest_valid_joint_move: 0.05
|
||||
noisy_filters:
|
||||
- class: stomp_moveit/JointLimits
|
||||
lock_start: True
|
||||
lock_goal: True
|
||||
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||
line_width: 0.02
|
||||
rgb: [255, 255, 0]
|
||||
marker_array_topic: stomp_trajectories
|
||||
marker_namespace: noisy
|
||||
update_filters:
|
||||
- class: stomp_moveit/PolynomialSmoother
|
||||
poly_order: 6
|
||||
- class: stomp_moveit/TrajectoryVisualization
|
||||
line_width: 0.05
|
||||
rgb: [0, 191, 255]
|
||||
error_rgb: [255, 0, 0]
|
||||
publish_intermediate: True
|
||||
marker_topic: stomp_trajectory
|
||||
marker_namespace: optimized
|
||||
stomp/waist:
|
||||
group_name: waist
|
||||
optimization:
|
||||
num_timesteps: 60
|
||||
num_iterations: 40
|
||||
num_iterations_after_valid: 0
|
||||
num_rollouts: 30
|
||||
max_rollouts: 30
|
||||
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||
control_cost_weight: 0.0
|
||||
task:
|
||||
noise_generator:
|
||||
- class: stomp_moveit/NormalDistributionSampling
|
||||
stddev: [0.05]
|
||||
cost_functions:
|
||||
- class: stomp_moveit/CollisionCheck
|
||||
collision_penalty: 1.0
|
||||
cost_weight: 1.0
|
||||
kernel_window_percentage: 0.2
|
||||
longest_valid_joint_move: 0.05
|
||||
noisy_filters:
|
||||
- class: stomp_moveit/JointLimits
|
||||
lock_start: True
|
||||
lock_goal: True
|
||||
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||
line_width: 0.02
|
||||
rgb: [255, 255, 0]
|
||||
marker_array_topic: stomp_trajectories
|
||||
marker_namespace: noisy
|
||||
update_filters:
|
||||
- class: stomp_moveit/PolynomialSmoother
|
||||
poly_order: 6
|
||||
- class: stomp_moveit/TrajectoryVisualization
|
||||
line_width: 0.05
|
||||
rgb: [0, 191, 255]
|
||||
error_rgb: [255, 0, 0]
|
||||
publish_intermediate: True
|
||||
marker_topic: stomp_trajectory
|
||||
marker_namespace: optimized
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<arg name="start_state_max_bounds_error" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints"
|
||||
/>
|
||||
|
||||
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<!-- Add MoveGroup capabilities specific to this pipeline -->
|
||||
<!-- <param name="capabilities" value="" /> -->
|
||||
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/chomp_planning.yaml" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<arg name="reset" default="false"/>
|
||||
<!-- If not specified, we'll use a default database location -->
|
||||
<arg name="moveit_warehouse_database_path" default="$(find mybuddy_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- Launch the warehouse with the configured database location -->
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
|
||||
</include>
|
||||
|
||||
<!-- If we want to reset the database, run this node -->
|
||||
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
|
||||
|
||||
</launch>
|
||||
70
Mybuddy/mybuddy_socket_moveit/launch/demo.launch
Normal file
70
Mybuddy/mybuddy_socket_moveit/launch/demo.launch
Normal file
|
|
@ -0,0 +1,70 @@
|
|||
<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="$(find mybuddy_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!-- By default, we will load or override the robot_description -->
|
||||
<arg name="load_robot_description" default="true"/>
|
||||
|
||||
<!-- Choose controller manager: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" default="fake" />
|
||||
<!-- Set execution mode for fake execution controllers -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
|
||||
<arg name="use_gui" default="false" />
|
||||
<arg name="use_rviz" default="true" />
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world base" />
|
||||
|
||||
|
||||
|
||||
<group if="$(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="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
21
Mybuddy/mybuddy_socket_moveit/launch/demo_gazebo.launch
Normal file
21
Mybuddy/mybuddy_socket_moveit/launch/demo_gazebo.launch
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
|
||||
<!-- specify the planning pipeline -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<!-- Gazebo specific options -->
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
|
||||
<!-- launch the gazebo simulator and spawn the robot -->
|
||||
<include file="$(dirname)/gazebo.launch" >
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
|
||||
</include>
|
||||
|
||||
<include file="$(dirname)/demo.launch" pass_all_args="true">
|
||||
<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
|
||||
<arg name="load_robot_description" value="false" />
|
||||
<arg name="moveit_controller_manager" value="ros_control" />
|
||||
</include>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
<launch>
|
||||
|
||||
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
|
||||
|
||||
<!-- The rest of the params are specific to this plugin -->
|
||||
<rosparam subst_value="true" file="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
|
||||
if no argument is passed, moveit_simple_controller_manager will be set -->
|
||||
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
|
||||
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
|
||||
|
||||
<!-- loads ros_controllers to the param server -->
|
||||
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
<launch>
|
||||
|
||||
</launch>
|
||||
32
Mybuddy/mybuddy_socket_moveit/launch/gazebo.launch
Normal file
32
Mybuddy/mybuddy_socket_moveit/launch/gazebo.launch
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
|
||||
default=" -J base_link1 0 -J joint1_L 0 -J joint1_R 0 -J joint2_L 0 -J joint2_R 0 -J joint3_L 0 -J joint3_R 0 -J joint4_L 0 -J joint4_R 0 -J joint5_L 0 -J joint5_R 0 -J joint6_L 0 -J joint6_R 0"/>
|
||||
|
||||
<!-- startup simulated world -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" default="worlds/empty.world"/>
|
||||
<arg name="paused" value="true"/>
|
||||
<arg name="gui" value="$(arg gazebo_gui)"/>
|
||||
</include>
|
||||
|
||||
<!-- send robot urdf to param server -->
|
||||
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf" />
|
||||
|
||||
<!-- unpause only after loading robot model -->
|
||||
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
|
||||
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
|
||||
<arg name="world_pose" value="-x 0 -y 0 -z 0" />
|
||||
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
|
||||
respawn="false" output="screen" />
|
||||
|
||||
<!-- Load joint controller parameters for Gazebo -->
|
||||
<rosparam file="$(find mybuddy_moveit)/config/gazebo_controllers.yaml" />
|
||||
<!-- Spawn Gazebo ROS controllers -->
|
||||
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
|
||||
<!-- Load ROS controllers -->
|
||||
<include file="$(dirname)/ros_controllers.launch"/>
|
||||
|
||||
</launch>
|
||||
17
Mybuddy/mybuddy_socket_moveit/launch/joystick_control.launch
Normal file
17
Mybuddy/mybuddy_socket_moveit/launch/joystick_control.launch
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
|
||||
|
||||
<arg name="dev" default="/dev/input/js0" />
|
||||
|
||||
<!-- Launch joy node -->
|
||||
<node pkg="joy" type="joy_node" name="joy">
|
||||
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
|
||||
<param name="deadzone" value="0.2" />
|
||||
<param name="autorepeat_rate" value="40" />
|
||||
<param name="coalesce_interval" value="0.025" />
|
||||
</node>
|
||||
|
||||
<!-- Launch python interface -->
|
||||
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
|
||||
|
||||
</launch>
|
||||
101
Mybuddy/mybuddy_socket_moveit/launch/move_group.launch
Normal file
101
Mybuddy/mybuddy_socket_moveit/launch/move_group.launch
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
<launch>
|
||||
|
||||
<!-- GDB Debug Option -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix"
|
||||
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
|
||||
|
||||
<!-- Verbose Mode Option -->
|
||||
<arg name="info" default="$(arg debug)" />
|
||||
<arg unless="$(arg info)" name="command_args" value="" />
|
||||
<arg if="$(arg info)" name="command_args" value="--debug" />
|
||||
|
||||
<!-- move_group settings -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
<arg name="allow_trajectory_execution" default="true"/>
|
||||
<arg name="moveit_controller_manager" default="simple" />
|
||||
<arg name="fake_execution_type" default="interpolate"/>
|
||||
<arg name="max_safe_path_cost" default="1"/>
|
||||
<arg name="publish_monitored_planning_scene" default="true"/>
|
||||
|
||||
<arg name="capabilities" default=""/>
|
||||
<arg name="disable_capabilities" default=""/>
|
||||
<!-- load these non-default MoveGroup capabilities (space seperated) -->
|
||||
<!--
|
||||
<arg name="capabilities" value="
|
||||
a_package/AwsomeMotionPlanningCapability
|
||||
another_package/GraspPlanningPipeline
|
||||
" />
|
||||
-->
|
||||
|
||||
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
|
||||
<!--
|
||||
<arg name="disable_capabilities" value="
|
||||
move_group/MoveGroupKinematicsService
|
||||
move_group/ClearOctomapService
|
||||
" />
|
||||
-->
|
||||
|
||||
<arg name="load_robot_description" default="false" />
|
||||
<!-- load URDF, SRDF and joint_limits configuration -->
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)" />
|
||||
</include>
|
||||
|
||||
<!-- Planning Pipelines -->
|
||||
<group ns="move_group/planning_pipelines">
|
||||
|
||||
<!-- OMPL -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="ompl" />
|
||||
</include>
|
||||
|
||||
<!-- CHOMP -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="chomp" />
|
||||
</include>
|
||||
|
||||
<!-- Pilz Industrial Motion -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="pilz_industrial_motion_planner" />
|
||||
</include>
|
||||
|
||||
<!-- Support custom planning pipeline -->
|
||||
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
|
||||
file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="$(arg pipeline)" />
|
||||
</include>
|
||||
</group>
|
||||
|
||||
<!-- Trajectory Execution Functionality -->
|
||||
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_manage_controllers" value="true" />
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
|
||||
</include>
|
||||
|
||||
<!-- Sensors Functionality -->
|
||||
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_sensor_manager" value="firefighter" />
|
||||
</include>
|
||||
|
||||
<!-- Start the actual move_group node/action server -->
|
||||
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
|
||||
<!-- Set the display variable, in case OpenGL code is used internally -->
|
||||
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
|
||||
|
||||
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
|
||||
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
||||
<param name="default_planning_pipeline" value="$(arg pipeline)" />
|
||||
<param name="capabilities" value="$(arg capabilities)" />
|
||||
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
|
||||
|
||||
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
|
||||
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
319
Mybuddy/mybuddy_socket_moveit/launch/moveit.rviz
Normal file
319
Mybuddy/mybuddy_socket_moveit/launch/moveit.rviz
Normal file
|
|
@ -0,0 +1,319 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 84
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /MotionPlanning1
|
||||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 135
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
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
|
||||
- Acceleration_Scaling_Factor: 0.1
|
||||
Class: moveit_rviz_plugin/MotionPlanning
|
||||
Enabled: true
|
||||
Move Group Namespace: ""
|
||||
MoveIt_Allow_Approximate_IK: false
|
||||
MoveIt_Allow_External_Program: false
|
||||
MoveIt_Allow_Replanning: false
|
||||
MoveIt_Allow_Sensor_Positioning: false
|
||||
MoveIt_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Cartesian_Path: false
|
||||
MoveIt_Use_Constraint_Aware_IK: false
|
||||
MoveIt_Workspace:
|
||||
Center:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Size:
|
||||
X: 2
|
||||
Y: 2
|
||||
Z: 2
|
||||
Name: MotionPlanning
|
||||
Planned Path:
|
||||
Color Enabled: false
|
||||
Interrupt Display: false
|
||||
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:
|
||||
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
|
||||
Loop Animation: false
|
||||
Robot Alpha: 0.5
|
||||
Robot Color: 150; 50; 150
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Show Trail: false
|
||||
State Display Time: 0.05 s
|
||||
Trail Step Size: 1
|
||||
Trajectory Topic: move_group/display_planned_path
|
||||
Use Sim Time: false
|
||||
Planning Metrics:
|
||||
Payload: 1
|
||||
Show Joint Torques: false
|
||||
Show Manipulability: false
|
||||
Show Manipulability Index: false
|
||||
Show Weight Limit: false
|
||||
TextHeight: 0.07999999821186066
|
||||
Planning Request:
|
||||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: left_arm
|
||||
Query Goal State: true
|
||||
Query Start State: false
|
||||
Show Workspace: false
|
||||
Start State Alpha: 1
|
||||
Start State Color: 0; 255; 0
|
||||
Planning Scene Topic: move_group/monitored_planning_scene
|
||||
Robot Description: robot_description
|
||||
Scene Geometry:
|
||||
Scene Alpha: 1
|
||||
Scene Color: 50; 230; 50
|
||||
Scene Display Time: 0.009999999776482582
|
||||
Show Scene Geometry: true
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
Scene Robot:
|
||||
Attached Body Color: 150; 50; 150
|
||||
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:
|
||||
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
|
||||
Robot Alpha: 0.5
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 0.1
|
||||
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
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.75
|
||||
Focal Point:
|
||||
X: -0.10000000149011612
|
||||
Y: 0.25
|
||||
Z: 0.30000001192092896
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5
|
||||
Target Frame: base
|
||||
Yaw: -0.6232355833053589
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 848
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000010000000000000203000002f1fc0200000007fb000000100044006900730070006c00610079007301000000410000011c000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a00560069006500770073000000010c000000a4000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001630000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b30000017f0000017400ffffff00000302000002f100000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1291
|
||||
X: 452
|
||||
Y: 28
|
||||
15
Mybuddy/mybuddy_socket_moveit/launch/moveit_rviz.launch
Normal file
15
Mybuddy/mybuddy_socket_moveit/launch/moveit_rviz.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<arg name="rviz_config" default="" />
|
||||
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
|
||||
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
|
||||
|
||||
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
|
||||
args="$(arg command_args)" output="screen">
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
<launch>
|
||||
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
|
||||
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
|
||||
<arg name="planning_adapters" value="
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints
|
||||
chomp/OptimizerAdapter"
|
||||
/>
|
||||
</include>
|
||||
|
||||
<!-- load chomp config -->
|
||||
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
|
||||
|
||||
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
|
||||
<param name="trajectory_initialization_method" value="fillTrajectory"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
<launch>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints"
|
||||
/>
|
||||
|
||||
<arg name="start_state_max_bounds_error" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
|
||||
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<!-- Add MoveGroup capabilities specific to this pipeline -->
|
||||
<!-- <param name="capabilities" value="" /> -->
|
||||
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/ompl_planning.yaml"/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters" default="" />
|
||||
|
||||
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
|
||||
<!-- Define default planner (for all groups) -->
|
||||
<param name="default_planner_config" value="PTP" />
|
||||
|
||||
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
|
||||
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
|
||||
pilz_industrial_motion_planner/MoveGroupSequenceService" />
|
||||
</launch>
|
||||
26
Mybuddy/mybuddy_socket_moveit/launch/planning_context.launch
Normal file
26
Mybuddy/mybuddy_socket_moveit/launch/planning_context.launch
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<launch>
|
||||
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
|
||||
<arg name="load_robot_description" default="false"/>
|
||||
|
||||
<!-- The name of the parameter under which the URDF is loaded -->
|
||||
<arg name="robot_description" default="robot_description"/>
|
||||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find mybuddy_moveit)/config/firefighter.srdf" />
|
||||
|
||||
<!-- Load updated joint limits (override information from URDF) -->
|
||||
<group ns="$(arg robot_description)_planning">
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/joint_limits.yaml"/>
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/cartesian_limits.yaml"/>
|
||||
</group>
|
||||
|
||||
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
|
||||
<group ns="$(arg robot_description)_kinematics">
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/kinematics.yaml"/>
|
||||
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include different planning pipelines;
|
||||
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
|
||||
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
<launch>
|
||||
<!-- Define MoveIt controller manager plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
|
||||
</launch>
|
||||
11
Mybuddy/mybuddy_socket_moveit/launch/ros_controllers.launch
Normal file
11
Mybuddy/mybuddy_socket_moveit/launch/ros_controllers.launch
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
|
||||
<!-- Load joint controller configurations from YAML file to parameter server -->
|
||||
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" command="load"/>
|
||||
|
||||
<!-- Load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args="right_arm_controller left_arm_controller waist_controller "/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
|
||||
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
|
||||
<arg name="cfg" />
|
||||
|
||||
<!-- Load URDF -->
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- Start the database -->
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
|
||||
</include>
|
||||
|
||||
<!-- Start Benchmark Executable -->
|
||||
<node name="$(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 mybuddy_moveit)/config/ompl_planning.yaml"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include the settings for sensor managers -->
|
||||
|
||||
<!-- Params for 3D sensors config -->
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/sensors_3d.yaml" />
|
||||
|
||||
<!-- Params for the octomap monitor -->
|
||||
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
|
||||
<param name="octomap_resolution" type="double" value="0.025" />
|
||||
<param name="max_range" type="double" value="5.0" />
|
||||
|
||||
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
|
||||
<arg name="moveit_sensor_manager" default="firefighter" />
|
||||
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
|
||||
|
||||
</launch>
|
||||
16
Mybuddy/mybuddy_socket_moveit/launch/setup_assistant.launch
Normal file
16
Mybuddy/mybuddy_socket_moveit/launch/setup_assistant.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
|
||||
<launch>
|
||||
|
||||
<!-- Debug Info -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<!-- Run -->
|
||||
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
|
||||
args="--config_pkg=mybuddy_moveit"
|
||||
launch-prefix="$(arg launch_prefix)"
|
||||
required="true"
|
||||
output="screen" />
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
<launch>
|
||||
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
|
||||
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
|
||||
|
||||
<!-- Load controller list to the parameter server -->
|
||||
<rosparam file="$(find mybuddy_moveit)/config/simple_moveit_controllers.yaml" />
|
||||
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- Stomp Plugin for MoveIt -->
|
||||
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
|
||||
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
<arg name="jiggle_fraction" value="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints" />
|
||||
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<!-- Add MoveGroup capabilities specific to this pipeline -->
|
||||
<!-- <param name="capabilities" value="" /> -->
|
||||
|
||||
<rosparam command="load" file="$(find mybuddy_moveit)/config/stomp_planning.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- This file summarizes all settings required for trajectory execution -->
|
||||
|
||||
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" />
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
|
||||
<arg name="moveit_manage_controllers" default="true"/>
|
||||
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
|
||||
|
||||
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
|
||||
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
|
||||
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
|
||||
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
|
||||
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
|
||||
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
|
||||
|
||||
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
|
||||
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
|
||||
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
|
||||
|
||||
</launch>
|
||||
15
Mybuddy/mybuddy_socket_moveit/launch/warehouse.launch
Normal file
15
Mybuddy/mybuddy_socket_moveit/launch/warehouse.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<!-- The path to the database must be specified -->
|
||||
<arg name="moveit_warehouse_database_path" />
|
||||
|
||||
<!-- Load warehouse parameters -->
|
||||
<include file="$(dirname)/warehouse_settings.launch.xml" />
|
||||
|
||||
<!-- Run the DB server -->
|
||||
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
|
||||
<param name="overwrite" value="false"/>
|
||||
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<!-- Set the parameters for the warehouse and run the mongodb server. -->
|
||||
|
||||
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
|
||||
<arg name="moveit_warehouse_port" default="33829" />
|
||||
|
||||
<!-- The default DB host for moveit -->
|
||||
<arg name="moveit_warehouse_host" default="localhost" />
|
||||
|
||||
<!-- Set parameters for the warehouse -->
|
||||
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
|
||||
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
|
||||
<param name="warehouse_exec" value="mongod" />
|
||||
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
|
||||
|
||||
</launch>
|
||||
41
Mybuddy/mybuddy_socket_moveit/package.xml
Normal file
41
Mybuddy/mybuddy_socket_moveit/package.xml
Normal file
|
|
@ -0,0 +1,41 @@
|
|||
<package>
|
||||
|
||||
<name>mybuddy_socket_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
|
||||
</description>
|
||||
<author email="weijian.wang@elephatrobotics.com">wangweijian</author>
|
||||
<maintainer email="weijian.wang@elephatrobotics.com">wangweijian</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">http://moveit.ros.org/</url>
|
||||
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
|
||||
<url type="repository">https://github.com/ros-planning/moveit</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<run_depend>moveit_ros_move_group</run_depend>
|
||||
<run_depend>moveit_fake_controller_manager</run_depend>
|
||||
<run_depend>moveit_kinematics</run_depend>
|
||||
<run_depend>moveit_planners_ompl</run_depend>
|
||||
<run_depend>moveit_ros_visualization</run_depend>
|
||||
<run_depend>moveit_setup_assistant</run_depend>
|
||||
<run_depend>moveit_simple_controller_manager</run_depend>
|
||||
<run_depend>joint_state_publisher</run_depend>
|
||||
<run_depend>joint_state_publisher_gui</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
<run_depend>rviz</run_depend>
|
||||
<run_depend>tf2_ros</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<!-- The next 2 packages are required for the gazebo simulation.
|
||||
We don't include them by default to prevent installing gazebo and all its dependencies. -->
|
||||
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
|
||||
<!-- <run_depend>gazebo_ros_control</run_depend> -->
|
||||
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
|
||||
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
|
||||
<run_depend>mycobot_description</run_depend>
|
||||
|
||||
|
||||
</package>
|
||||
49
Mybuddy/mybuddy_socket_moveit/scripts/sync_plan.py
Executable file
49
Mybuddy/mybuddy_socket_moveit/scripts/sync_plan.py
Executable file
|
|
@ -0,0 +1,49 @@
|
|||
#!/usr/bin/env python3
|
||||
import time
|
||||
import rospy
|
||||
import os
|
||||
from sensor_msgs.msg import JointState
|
||||
from pymycobot.mybuddysocket import MyBuddySocket
|
||||
import math
|
||||
|
||||
mb = None
|
||||
|
||||
|
||||
def callback(data):
|
||||
rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(value)
|
||||
|
||||
data_list1 = data_list[:6]
|
||||
data_list2 = data_list[6:-1]
|
||||
data_list3 = list(data_list[-1:])
|
||||
|
||||
print("left_arm: %s" % data_list1)
|
||||
print("right_arm: %s" % data_list2)
|
||||
print("waist: %s" % data_list3)
|
||||
|
||||
print("\n")
|
||||
mb.send_radians(1,data_list1, 50)
|
||||
time.sleep(0.02)
|
||||
mb.send_radians(2,data_list2, 50)
|
||||
time.sleep(0.02)
|
||||
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
|
||||
time.sleep(0.02)
|
||||
|
||||
def listener():
|
||||
global mb
|
||||
rospy.init_node("mybuddy_reciver", anonymous=True)
|
||||
ip = rospy.get_param("~ip", "192.168.123.240")
|
||||
port = rospy.get_param("~port", 9000)
|
||||
print(ip, port)
|
||||
mb = MyBuddySocket(ip, port)
|
||||
mb.connect(serialport="/dev/ttyACM0", baudrate="115200")
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
rospy.spin()
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
Loading…
Add table
Reference in a new issue