From 4e8a1e4155610edf5af86939eec89ab0a0467682 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Jun 2022 14:04:43 +0800 Subject: [PATCH] change sync_plan.py --- .../mycobot_600_moveit/scripts/sync_plan.py | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py index f2a9161..6e21641 100755 --- a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py +++ b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py @@ -248,6 +248,7 @@ old_list = [] def callback(data): """callback function,回调函数""" + satrt_time=time.time() global old_list # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) print ("position", data.position) @@ -262,33 +263,33 @@ def callback(data): mc.write_angles(data_list, 1999) elif old_list != data_list: old_list = data_list - if mc.check_running(): - mc.task_stop() - time.sleep(0.05) + # if mc.check_running(): + # mc.task_stop() + # time.sleep(0.05) mc.write_angles(data_list, 1999) - + end_time=time.time() + print('loop_time:',end_time-satrt_time) def listener(): global mc rospy.init_node("control_slider", anonymous=True) - ip = rospy.get_param("~ip", "192.168.10.66") + ip = rospy.get_param("~ip", "192.168.10.159") print (ip) mc = ElephantRobot(ip, 5001) # START CLIENT,启动客户端 res = mc.start_client() if res != "": - print res + print ('start_client->',res) sys.exit(1) - print ep.wait(5) - print mc.get_angles() - print mc.get_coords() - mc.set_speed(30) - print mc.get_speed() + # print ep.wait(5) + # print mc.get_angles() + # print mc.get_coords() + mc.set_speed(90) + # print mc.get_speed() rospy.Subscriber("joint_states", JointState, callback) - # spin() simply keeps python from exiting until this node is stopped # spin()只是阻止python退出，直到该节点停止 print ("sping ...") @@ -296,4 +297,4 @@ def listener(): if __name__ == "__main__": - listener() \ No newline at end of file + listener()