integrate mycobot_320_moveit

mycobot_320/mycobot_320_moveit/launch/demo.launch

@@ -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>

mycobot_320/mycobot_320_moveit/launch/mycobot320_moveit.launch

@@ -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> 
 
   <!-- 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>

mycobot_320/mycobot_320_moveit/scripts/sync_plan.py

@@ -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)