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integrate mycobot_320_moveit

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This commit is contained in:
wangWking 2022-04-11 18:55:18 +08:00
parent a727b54682
commit 58815a485d
3 changed files with 4 additions and 20 deletions
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9
mycobot_320/mycobot_320_moveit/launch/demo.launch
View file

@ -1,14 +1,11 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_320_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
<!--
@ -22,7 +19,6 @@
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_320_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
@ -31,18 +27,15 @@
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_320_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
@ -51,14 +44,12 @@
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_320_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_320_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

12
mycobot_320/mycobot_320_moveit/launch/mycobot320_moveit.launch
View file

@ -1,13 +1,11 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_320_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
@ -21,7 +19,6 @@
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_320_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
@ -30,18 +27,15 @@
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_320_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
@ -50,14 +44,12 @@
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_320_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_320_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

3
mycobot_320/mycobot_320_moveit/scripts/sync_plan.py
View file

@ -28,7 +28,8 @@ def listener():
shell=True)
port = rospy.get_param("~port", port)
baud = rospy.get_param("~baud", 1000000)
baud = rospy.get_param("~baud", 115200)
# 1000000
mc = MyCobot(port, baud)
rospy.Subscriber("joint_states", JointState, callback)