Merge branch 'main' of https://github.com/elephantrobotics/myCobotROS into main

README.md

@@ -3,6 +3,7 @@
 **Notes**:
 
 <!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
+
 > Make sure that `Atom2.1alpha` is flashed into the top Atom and `Transponder` is flashed into the base Basic .The tool download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
 > ubuntu: 16.04LTS<br>
 > ros version: 1.12.17
@@ -14,6 +15,7 @@
 For using this package, the [api]() library should be installed first.(demo comes with)
 
 If you want to use api alone, you can look here [https://github.com/elephantrobotics/myCobotROS/blob/main/scripts/pythonAPI/README.md](https://github.com/elephantrobotics/myCobotROS/blob/main/scripts/pythonAPI/README.md)
+
 ### 1.2 Package Download and Install
 
 Install ros package in your src folder of your Catkin workspace.
@@ -28,7 +30,7 @@ $ catkin_make
 ### 1.3 Test API
 
 ```bash
-cd ~/catkin_ws/src/myCobotRos
+cd ~/catkin_ws/src/myCobotROS
 python3 scripts/test.py
 ```
 
@@ -57,14 +59,14 @@ If the myCobot color change to red, it's mean the API is working normally.
 
 - Visualization -- display.launch: This function will display robot arm movement in realtime when you manually move mycobot.
 
-- Control -- control.launch: This function will allow you use slider bar to control movement of the robot arm. 
+- Control -- control.launch: This function will allow you use slider bar to control movement of the robot arm.
 
 ### 3.2 Lanuch and Run
 
 -**Step 1**: In one terminal, open the core.
 
 ```bash
-rocore #open another tab
+roscore #open another tab
 ```
 
 -**Step 2**: Launch
@@ -87,25 +89,34 @@ roslaunch myCobotROS control.launch
 rosrun rviz rviz
 ```
 
+If you use the above command, then you may need to manually add some model components. If you don't want to be so troublesome, you can use the following command to load a saved **myCobot** model.
+
+```bash
+rosrun rviz rviz -d rospack find myCobotROS/config/mycobot.rviz
+```
+
 -**Step 4**: Run python script
 
 a) For display
 
 ```bash
-rosrun myCobotRos display.py
+rosrun myCobotROS display.py
 ```
 
 b) For slider bar.
 
 ```bash
-rosrun myCobotRos control_slider.py
+rosrun myCobotROS control_slider.py
 ```
 
 c) For marker control
 
 ```bash
-rosrun myCobots control_marker.py
+rosrun myCobotROS control_marker.py
 ```
 
+## Q & A
 
+**Q: error[101]**
 
+**A:** Make sure that the serial port is not occupied, and that the correct firmware is burned in for atom and basic

config/mycobot.rviz

@@ -0,0 +1,171 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 591
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        joint1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint6_flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: joint1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.2028908729553223
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.35539841651916504
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7703980207443237
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 885
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c000002d9000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000002d9000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005240000003efc0100000002fb0000000800540069006d00650100000000000005240000029800fffffffb0000000800540069006d00650100000000000004500000000000000000000002b3000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1316
+  X: 349
+  Y: 42

scripts/pythonAPI/common.py

@@ -1,18 +1,18 @@
 import enum
 
 class Angle(enum.Enum):
-    J1 = '00'
-    J2 = '01'
-    J3 = '02'
-    J4 = '03'
-    J5 = '04'
-    J6 = '05'
+    J1 = '01'
+    J2 = '02'
+    J3 = '03'
+    J4 = '04'
+    J5 = '05'
+    J6 = '06'
 
 
 class Coord(enum.Enum):
-    X = '00'
-    Y = '01'
-    Z = '02'
-    Rx = '03'
-    Ry = '04'
-    Rz = '05'
+    X = '01'
+    Y = '02'
+    Z = '03'
+    Rx = '04'
+    Ry = '05'
+    Rz = '06'

scripts/pythonAPI/mycobot.py

@@ -94,7 +94,8 @@ class MyCobot():
 
         '''
         _hex = self._angle_to_hex(degree)
-        command = 'fefe0621{}{}{}fa'.format(id, _hex, hex(speed)[2:])
+        speed = self._complement_zero(hex(speed)[2:], digit=2)
+        command = 'fefe0621{}{}{}fa'.format(id, _hex, speed)
         # print(command)  
         self._write(command)
 
@@ -353,4 +354,4 @@ class MyCobot():
 
     def _read(self, size=1024):
         data = self.serial_port.read(size)
-        return data
+        return data

scripts/pythonAPI/mycobot3.py

@@ -95,7 +95,8 @@ class MyCobot():
 
         '''
         _hex = self._angle_to_hex(degree)
-        command = 'fefe0621{}{}{}fa'.format(id, _hex, hex(speed)[2:])
+        speed = self._complement_zero(hex(speed)[2:], digit=2)
+        command = 'fefe0621{}{}{}fa'.format(id, _hex, speed)
         # print(command)  
         self._write(command)
 
@@ -354,4 +355,4 @@ class MyCobot():
 
     def _read(self, size: int=1024):
         data = self.serial_port.read(size)
-        return data
+        return data