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change sync_plan.py

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wangWking 2022-06-07 14:04:43 +08:00
parent 753fb1944d
commit 4e8a1e4155
1 changed files with 14 additions and 13 deletions
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25
mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py
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@ -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 ...")