mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
fix 320 moveit bug
This commit is contained in:
weiquan
parent
744e89c73d
commit
601941d65a
4 changed files with 190 additions and 521 deletions
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@ -33,7 +33,7 @@
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<build_depend>actionlib</build_depend>
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<build_depend>moveit_msgs</build_depend>
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<build_depend>mycobot_description</build_depend>
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<run_depend>mycobot_description</run_depend>
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@ -5,8 +5,12 @@ Panels:
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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Splitter Ratio: 0.74256
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Tree Height: 664
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- /MotionPlanning1/Scene Geometry1
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- /MotionPlanning1/Scene Robot1
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- /MotionPlanning1/Planning Request1
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- /MotionPlanning1/Planned Path1
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Splitter Ratio: 0.742560029
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Tree Height: 218
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- Class: rviz/Help
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Name: Help
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- Class: rviz/Views
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@ -14,6 +18,8 @@ Panels:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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@ -23,7 +29,7 @@ Visualization Manager:
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.03
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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@ -35,302 +41,87 @@ Visualization Manager:
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: moveit_rviz_plugin/MotionPlanning
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- Acceleration_Scaling_Factor: 1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Goal_Tolerance: 0
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Constraint_Aware_IK: true
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MoveIt_Warehouse_Host: 127.0.0.1
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MoveIt_Warehouse_Port: 33829
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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base_bellow_link:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_footprint:
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gripper:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_l_wheel_link:
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link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_r_wheel_link:
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link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_rotation_link:
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link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_l_wheel_link:
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link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_r_wheel_link:
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link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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double_stereo_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_l_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_r_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_l_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_r_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_kinect_ir_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_kinect_rgb_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_prosilica_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_pan_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_plate_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_tilt_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_elbow_flex_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_forearm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_forearm_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_l_finger_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_l_finger_tip_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_motor_accelerometer_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_palm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_r_finger_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_r_finger_tip_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_shoulder_lift_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_shoulder_pan_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_upper_arm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_upper_arm_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_wrist_flex_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_wrist_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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laser_tilt_mount_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_elbow_flex_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_forearm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_forearm_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_l_finger_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_l_finger_tip_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_motor_accelerometer_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_palm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_r_finger_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_gripper_r_finger_tip_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_shoulder_lift_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_shoulder_pan_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_upper_arm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_upper_arm_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_wrist_flex_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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r_wrist_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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sensor_mount_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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torso_lift_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Loop Animation: true
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Loop Animation: false
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: move_group/display_planned_path
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Planning Metrics:
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Payload: 1
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@ -338,15 +129,16 @@ Visualization Manager:
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.0799999982
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Joint Violation Color: 255; 0; 255
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Planning Group: left_arm
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Planning Group: arm_group
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Query Goal State: true
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Query Start State: false
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Query Start State: true
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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@ -355,300 +147,69 @@ Visualization Manager:
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Scene Geometry:
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Scene Alpha: 1
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Scene Color: 50; 230; 50
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Scene Display Time: 0.2
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Scene Display Time: 0.200000003
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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base_bellow_link:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_footprint:
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gripper:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_l_wheel_link:
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link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_r_wheel_link:
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link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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bl_caster_rotation_link:
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link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_l_wheel_link:
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link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_r_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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br_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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double_stereo_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_l_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_r_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fl_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_l_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_r_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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fr_caster_rotation_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_kinect_ir_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_kinect_rgb_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_mount_prosilica_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_pan_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_plate_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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head_tilt_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_elbow_flex_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_forearm_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_forearm_roll_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_l_finger_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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l_gripper_l_finger_tip_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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||||
l_gripper_motor_accelerometer_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_gripper_palm_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_gripper_r_finger_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_gripper_r_finger_tip_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_shoulder_lift_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_shoulder_pan_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_upper_arm_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_upper_arm_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_wrist_flex_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
l_wrist_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
laser_tilt_mount_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_elbow_flex_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_forearm_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_forearm_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_l_finger_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_l_finger_tip_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_motor_accelerometer_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_palm_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_r_finger_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_r_finger_tip_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_shoulder_lift_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_shoulder_pan_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_upper_arm_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_upper_arm_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_wrist_flex_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_wrist_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
sensor_mount_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
torso_lift_link:
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Robot Alpha: 0.5
|
||||
Show Scene Robot: true
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: false
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 1
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: /base
|
||||
Default Light: true
|
||||
Fixed Frame: base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
|
|
@ -659,31 +220,41 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/XYOrbit
|
||||
Distance: 2.9965
|
||||
Distance: 2.99650002
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.113567
|
||||
Y: 0.10592
|
||||
Z: 2.23518e-07
|
||||
X: 0.113567002
|
||||
Y: 0.105920002
|
||||
Z: 2.23518001e-07
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.509797
|
||||
Target Frame: /base
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.509796977
|
||||
Target Frame: base
|
||||
Value: XYOrbit (rviz)
|
||||
Yaw: 5.65995
|
||||
Yaw: 5.65994978
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1337
|
||||
Height: 926
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Motion Planning:
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000358fc0200000007fb000000100044006900730070006c00610079007301000000280000016f000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000019d0000004d0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001f0000001900000018300ffffff0000048c0000035800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1828
|
||||
X: 459
|
||||
Y: -243
|
||||
Width: 1855
|
||||
X: 65
|
||||
Y: 24
|
||||
|
|
|
|||
57
mycobot_320_moveit/launch/mycobot320_moveit.launch
Normal file
57
mycobot_320_moveit/launch/mycobot320_moveit.launch
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
<launch>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<arg name="db_path" default="$(find mycobot_320_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<include file="$(find mycobot_320_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(find mycobot_320_moveit)/launch/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="true"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<include file="$(find mycobot_320_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(find mycobot_320_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
41
mycobot_320_moveit/scripts/sync_plan.py
Normal file
41
mycobot_320_moveit/scripts/sync_plan.py
Normal file
|
|
@ -0,0 +1,41 @@
|
|||
#!/usr/bin/env python2
|
||||
import time
|
||||
import subprocess
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
mc = None
|
||||
|
||||
|
||||
def callback(data):
|
||||
rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
# if index != 2:
|
||||
# value *= -1
|
||||
data_list.append(value)
|
||||
|
||||
mc.send_radians(data_list, 80)
|
||||
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
rospy.init_node("mycobot_reciver", anonymous=True)
|
||||
port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
|
||||
shell=True)
|
||||
|
||||
port = rospy.get_param("~port", port)
|
||||
baud = rospy.get_param("~baud", 1000000)
|
||||
mc = MyCobot(port, baud)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
Loading…
Add table
Reference in a new issue