chore: modify dict structure.

CMakeLists.txt

@@ -45,20 +45,20 @@ catkin_package(
 include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) 
 
 catkin_install_python(PROGRAMS 
-  scripts/follow_display.py 
-  scripts/slider_control.py 
-  scripts/control_marker.py
   scripts/mycobot_services.py
   scripts/mycobot_topics.py
-  scripts/listen_real.py
-  scripts/listen_real_of_topic.py
-  scripts/teleop_keyboard.py
-  scripts/sync_plan.py
+  scripts/mycobot/follow_display.py 
+  scripts/mycobot/slider_control.py 
+  scripts/mycobot/teleop_keyboard.py
+  scripts/mycobot/listen_real.py
+  scripts/mycobot/listen_real_of_topic.py
+  scripts/mycobot/detect_marker.py
+  scripts/mycobot/following_marker.py
+  scripts/mycobot/follow_and_pump.py
+  scripts/mycobot/simple_gui.py
+  scripts/control_marker.py
+  scripts/mycobot_moveit/sync_plan.py
   scripts/client.py
-  scripts/detect_marker.py
-  scripts/following_marker.py
-  scripts/follow_and_pump.py
-  scripts/simple_gui.py
   scripts/slider_600.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

launch/mycobot/mycobot_detect_marker.launch

@@ -1,11 +1,11 @@
 <launch>
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_with_marker.rviz" />
 	<arg name="gui" default="true" />
 
 	<arg name="num" default="0" />
 
-    <include file="$(find mycobot_ros)/launch/mycobot_slider.launch">
+    <include file="$(find mycobot_ros)/launch/mycobot/mycobot_slider.launch">
 		<arg name="model" value="$(arg model)" />	
 		<arg name="rvizconfig" value="$(arg rvizconfig)" />	
 		<arg name="gui" value="$(arg gui)" />	

launch/mycobot/mycobot_detect_marker_with_topic.launch

@@ -2,7 +2,7 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_with_marker.rviz" />
 	<arg name="gui" default="false" />
 
@@ -16,7 +16,7 @@
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
 	<!-- mycobot-topics -->
-    <include file="$(find mycobot_ros)/launch/communication_topic.launch">
+    <include file="$(find mycobot_ros)/launch/mycobot/communication_topic.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>

launch/mycobot/mycobot_follow.launch

@@ -1,5 +1,5 @@
 <launch>
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

launch/mycobot/mycobot_simple_gui.launch

@@ -2,7 +2,7 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 	<arg name="gui" default="false" />
 
@@ -13,7 +13,7 @@
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find mycobot_ros)/launch/communication_service.launch">
+    <include file="$(find mycobot_ros)/launch/mycobot/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>

launch/mycobot/mycobot_slider.launch

@@ -2,7 +2,7 @@
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
 
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 

launch/mycobot/mycobot_teleop_keyboard.launch

@@ -2,7 +2,7 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 	<arg name="gui" default="false" />
 
@@ -13,7 +13,7 @@
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find mycobot_ros)/launch/communication_service.launch">
+    <include file="$(find mycobot_ros)/launch/mycobot/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>

launch/mycobot_moveit/default_warehouse_db.launch

@@ -5,7 +5,7 @@
   <arg name="moveit_warehouse_database_path" default="$(find mycobot_ros)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
-  <include file="$(find mycobot_ros)/launch/warehouse.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 

launch/mycobot_moveit/move_group.launch

@@ -1,12 +1,12 @@
 <launch>
 
-  <include file="$(find mycobot_ros)/launch/planning_context.launch" />
+  <include file="$(find mycobot_ros)/launch//mycobot_moveit/planning_context.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 $(find mycobot_ros)/launch/gdb_settings.gdb --ex run --args" />
+	   value="gdb -x $(find mycobot_ros)/launch//mycobot_moveit/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
@@ -39,19 +39,19 @@
   -->
 
   <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find mycobot_ros)/launch/planning_pipeline.launch.xml">
+  <include ns="move_group" file="$(find mycobot_ros)/launch//mycobot_moveit/planning_pipeline.launch.xml">
     <arg name="pipeline" value="ompl" />
   </include>
 
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find mycobot_ros)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(find mycobot_ros)/launch//mycobot_moveit/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
     <arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
   </include>
 
   <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find mycobot_ros)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(find mycobot_ros)/launch//mycobot_moveit/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_sensor_manager" value="firefighter" />
   </include>
 

launch/mycobot_moveit/moveit_rviz.launch

@@ -6,7 +6,7 @@
 
   <arg name="config" default="false" />
   <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find mycobot_ros)/launch/moveit.rviz" />
+  <arg     if="$(arg config)" name="command_args" value="-d $(find mycobot_ros)/launch/mycobot_moveit/moveit.rviz" />
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">

launch/mycobot_moveit/mycobot_moveit.launch

@@ -19,7 +19,7 @@
   <arg name="use_gui" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -37,7 +37,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
   <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find mycobot_ros)/launch/move_group.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
@@ -45,7 +45,7 @@
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mycobot_ros)/launch/moveit_rviz.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/moveit_rviz.launch">
     <!-- <arg name="config" value="false"/> -->
     <arg name="config" value="true"/>
     <arg name="debug" value="$(arg debug)"/>

launch/mycobot_moveit/planning_context.launch

@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_ros)/config/firefighter.srdf" />

launch/mycobot_moveit/planning_pipeline.launch.xml

@@ -5,6 +5,6 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find mycobot_ros)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include file="$(find mycobot_ros)/launch//mycobot_moveit/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>

launch/mycobot_moveit/sensor_manager.launch.xml

@@ -12,6 +12,6 @@
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
   <arg name="moveit_sensor_manager" default="firefighter" />
-  <include file="$(find mycobot_ros)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  <include file="$(find mycobot_ros)/launch//mycobot_moveit/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
 
 </launch>

launch/mycobot_moveit/trajectory_execution.launch.xml

@@ -15,6 +15,6 @@
 
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="firefighter" />
-  <include file="$(find mycobot_ros)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  <include file="$(find mycobot_ros)/launch//mycobot_moveit/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
 
 </launch>

scripts/test.py

@@ -1,9 +1,22 @@
+#!/usr/bin/env python
+
+'''
+This package need `pymycobot`.
+This file for test the API if right.
+Just can run in Linux.
+'''
+
 import time, random, subprocess
 from pymycobot.mycobot import MyCobot
-# from pythonAPI.mycobot3 import MyCobot as MyCobot3
 from pymycobot.genre import Angle, Coord
 
 if __name__ == '__main__': 
+    sys_ = subprocess.check_output(['uname'], 
+                                    shell=True).decode()
+    if not sys_ == 'Linux':
+        print('This script just can run on Linux.')  
+        exit(0)
+
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
                                     shell=True).decode()
     mycobot = MyCobot(port)

urdf/mycobot/mycobot_urdf.urdf

@@ -8,14 +8,14 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/joint1.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_ros/urdf/joint1.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
         </geometry>
         <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -24,13 +24,13 @@
   <link name="joint2">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/joint2.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
-       <mesh filename="package://mycobot_ros/urdf/joint2.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -40,13 +40,13 @@
   <link name="joint3">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
       </geometry>
     <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
-       <mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -57,14 +57,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint4.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint4.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -75,14 +75,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint5.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
     <collision>
        <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint5.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
@@ -93,14 +93,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint6.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint6.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </collision>
@@ -111,14 +111,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint7.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_ros/urdf/joint7.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </collision>