From 69e8c72266b75224f48e78024e51ec98a5be41c3 Mon Sep 17 00:00:00 2001 From: 2929ss <51234222+2929ss@users.noreply.github.com> Date: Thu, 10 Mar 2022 17:22:13 +0800 Subject: [PATCH] add mypal260 with urdf, communication, moveit (#56) * add mypal260 with urdf,communication,moveit --- mycobot_description/urdf/260_urdf/base.dae | 250 +++++++++++ mycobot_description/urdf/260_urdf/link1.dae | 245 +++++++++++ mycobot_description/urdf/260_urdf/link2.dae | 280 ++++++++++++ mycobot_description/urdf/260_urdf/link3.dae | 352 +++++++++++++++ mycobot_description/urdf/260_urdf/link4.dae | 240 ++++++++++ mycobot_description/urdf/260_urdf/link5.dae | 194 +++++++++ .../urdf/260_urdf/mypal_260.urdf | 154 +++++++ mypalletizer_260/CMakeLists.txt | 44 ++ mypalletizer_260/LICENSE | 25 ++ .../config/mycobot_with_marker.rviz | 216 +++++++++ mypalletizer_260/config/mypal_260.rviz | 197 +++++++++ mypalletizer_260/launch/detect_marker.launch | 16 + .../launch/detect_marker_with_topic.launch | 29 ++ mypalletizer_260/launch/follow.launch | 11 + mypalletizer_260/launch/simple_gui.launch | 22 + mypalletizer_260/launch/slider_control.launch | 24 + .../launch/teleop_keyboard.launch | 23 + mypalletizer_260/launch/test.launch | 16 + mypalletizer_260/package.xml | 47 ++ mypalletizer_260/scripts/detect_marker.py | 123 ++++++ mypalletizer_260/scripts/follow_and_pump.py | 190 ++++++++ mypalletizer_260/scripts/follow_display.py | 109 +++++ mypalletizer_260/scripts/following_marker.py | 64 +++ mypalletizer_260/scripts/listen_real.py | 66 +++ .../scripts/listen_real_of_topic.py | 65 +++ mypalletizer_260/scripts/simple_gui.py | 411 ++++++++++++++++++ mypalletizer_260/scripts/slider_control.py | 51 +++ mypalletizer_260/scripts/teleop_keyboard.py | 164 +++++++ mypalletizer_260_moveit/CMakeLists.txt | 22 + mypalletizer_260_moveit/LICENSE | 25 ++ .../config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 10 + .../config/firefighter.srdf | 47 ++ .../config/joint_limits.yaml | 39 ++ .../config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 150 +++++++ .../config/ros_controllers.yaml | 27 ++ .../config/sensors_3d.yaml | 10 + .../launch/chomp_planning_pipeline.launch.xml | 10 + .../launch/default_warehouse_db.launch | 15 + mypalletizer_260_moveit/launch/demo.launch | 57 +++ .../launch/demo_gazebo.launch | 70 +++ .../fake_moveit_controller_manager.launch.xml | 9 + ...ghter_moveit_controller_manager.launch.xml | 10 + ...refighter_moveit_sensor_manager.launch.xml | 3 + mypalletizer_260_moveit/launch/gazebo.launch | 23 + .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 77 ++++ mypalletizer_260_moveit/launch/moveit.rviz | 244 +++++++++++ .../launch/moveit_rviz.launch | 16 + .../launch/mypal_moveit.launch | 57 +++ .../launch/ompl_planning_pipeline.launch.xml | 22 + .../launch/planning_context.launch | 24 + .../launch/planning_pipeline.launch.xml | 10 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 22 + .../launch/sensor_manager.launch.xml | 17 + .../launch/setup_assistant.launch | 15 + .../launch/trajectory_execution.launch.xml | 20 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 16 + mypalletizer_260_moveit/package.xml | 40 ++ ...th_planning_and_obstacle_avoidance_demo.py | 125 ++++++ mypalletizer_260_moveit/scripts/sync_plan.py | 40 ++ mypalletizer_communication/CMakeLists.txt | 216 +++++++++ mypalletizer_communication/LICENSE | 25 ++ .../launch/communication_jsnn.launch | 10 + .../launch/communication_seeed.launch | 10 + .../launch/communication_service.launch | 10 + .../launch/communication_topic.launch | 12 + .../launch/communication_topic_pi.launch | 10 + .../msg/MypalAngles.msg | 7 + .../msg/MypalCoords.msg | 6 + .../msg/MypalGripperStatus.msg | 1 + .../msg/MypalPumpStatus.msg | 3 + .../msg/MypalSetAngles.msg | 9 + .../msg/MypalSetCoords.msg | 9 + mypalletizer_communication/package.xml | 86 ++++ .../scripts/mypal_services.py | 148 +++++++ .../scripts/mypal_topics.py | 208 +++++++++ .../scripts/mypal_topics_seeed.py | 204 +++++++++ mypalletizer_communication/scripts/test.py | 7 + mypalletizer_communication/srv/GetAngles.srv | 11 + mypalletizer_communication/srv/GetCoords.srv | 9 + .../srv/GripperStatus.srv | 5 + mypalletizer_communication/srv/PumpStatus.srv | 7 + mypalletizer_communication/srv/SetAngles.srv | 15 + mypalletizer_communication/srv/SetCoords.srv | 13 + 88 files changed, 6007 insertions(+) create mode 100644 mycobot_description/urdf/260_urdf/base.dae create mode 100644 mycobot_description/urdf/260_urdf/link1.dae create mode 100644 mycobot_description/urdf/260_urdf/link2.dae create mode 100644 mycobot_description/urdf/260_urdf/link3.dae create mode 100644 mycobot_description/urdf/260_urdf/link4.dae create mode 100644 mycobot_description/urdf/260_urdf/link5.dae create mode 100644 mycobot_description/urdf/260_urdf/mypal_260.urdf create mode 100755 mypalletizer_260/CMakeLists.txt create mode 100644 mypalletizer_260/LICENSE create mode 100644 mypalletizer_260/config/mycobot_with_marker.rviz create mode 100644 mypalletizer_260/config/mypal_260.rviz create mode 100644 mypalletizer_260/launch/detect_marker.launch create mode 100644 mypalletizer_260/launch/detect_marker_with_topic.launch create mode 100644 mypalletizer_260/launch/follow.launch create mode 100644 mypalletizer_260/launch/simple_gui.launch create mode 100644 mypalletizer_260/launch/slider_control.launch create mode 100644 mypalletizer_260/launch/teleop_keyboard.launch create mode 100644 mypalletizer_260/launch/test.launch create mode 100644 mypalletizer_260/package.xml create mode 100755 mypalletizer_260/scripts/detect_marker.py create mode 100755 mypalletizer_260/scripts/follow_and_pump.py create mode 100755 mypalletizer_260/scripts/follow_display.py create mode 100755 mypalletizer_260/scripts/following_marker.py create mode 100755 mypalletizer_260/scripts/listen_real.py create mode 100755 mypalletizer_260/scripts/listen_real_of_topic.py create mode 100755 mypalletizer_260/scripts/simple_gui.py create mode 100755 mypalletizer_260/scripts/slider_control.py create mode 100755 mypalletizer_260/scripts/teleop_keyboard.py create mode 100644 mypalletizer_260_moveit/CMakeLists.txt create mode 100644 mypalletizer_260_moveit/LICENSE create mode 100644 mypalletizer_260_moveit/config/chomp_planning.yaml create mode 100644 mypalletizer_260_moveit/config/fake_controllers.yaml create mode 100644 mypalletizer_260_moveit/config/firefighter.srdf create mode 100644 mypalletizer_260_moveit/config/joint_limits.yaml create mode 100644 mypalletizer_260_moveit/config/kinematics.yaml create mode 100644 mypalletizer_260_moveit/config/ompl_planning.yaml create mode 100644 mypalletizer_260_moveit/config/ros_controllers.yaml create mode 100644 mypalletizer_260_moveit/config/sensors_3d.yaml create mode 100644 mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml create mode 100644 mypalletizer_260_moveit/launch/default_warehouse_db.launch create mode 100644 mypalletizer_260_moveit/launch/demo.launch create mode 100644 mypalletizer_260_moveit/launch/demo_gazebo.launch create mode 100644 mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml create mode 100644 mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml create mode 100644 mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml create mode 100644 mypalletizer_260_moveit/launch/gazebo.launch create mode 100644 mypalletizer_260_moveit/launch/joystick_control.launch create mode 100644 mypalletizer_260_moveit/launch/move_group.launch create mode 100644 mypalletizer_260_moveit/launch/moveit.rviz create mode 100644 mypalletizer_260_moveit/launch/moveit_rviz.launch create mode 100644 mypalletizer_260_moveit/launch/mypal_moveit.launch create mode 100644 mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml create mode 100644 mypalletizer_260_moveit/launch/planning_context.launch create mode 100644 mypalletizer_260_moveit/launch/planning_pipeline.launch.xml create mode 100644 mypalletizer_260_moveit/launch/ros_controllers.launch create mode 100644 mypalletizer_260_moveit/launch/run_benchmark_ompl.launch create mode 100644 mypalletizer_260_moveit/launch/sensor_manager.launch.xml create mode 100644 mypalletizer_260_moveit/launch/setup_assistant.launch create mode 100644 mypalletizer_260_moveit/launch/trajectory_execution.launch.xml create mode 100644 mypalletizer_260_moveit/launch/warehouse.launch create mode 100644 mypalletizer_260_moveit/launch/warehouse_settings.launch.xml create mode 100644 mypalletizer_260_moveit/package.xml create mode 100644 mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py create mode 100755 mypalletizer_260_moveit/scripts/sync_plan.py create mode 100644 mypalletizer_communication/CMakeLists.txt create mode 100644 mypalletizer_communication/LICENSE create mode 100644 mypalletizer_communication/launch/communication_jsnn.launch create mode 100644 mypalletizer_communication/launch/communication_seeed.launch create mode 100644 mypalletizer_communication/launch/communication_service.launch create mode 100644 mypalletizer_communication/launch/communication_topic.launch create mode 100644 mypalletizer_communication/launch/communication_topic_pi.launch create mode 100644 mypalletizer_communication/msg/MypalAngles.msg create mode 100644 mypalletizer_communication/msg/MypalCoords.msg create mode 100644 mypalletizer_communication/msg/MypalGripperStatus.msg create mode 100644 mypalletizer_communication/msg/MypalPumpStatus.msg create mode 100644 mypalletizer_communication/msg/MypalSetAngles.msg create mode 100644 mypalletizer_communication/msg/MypalSetCoords.msg create mode 100644 mypalletizer_communication/package.xml create mode 100755 mypalletizer_communication/scripts/mypal_services.py create mode 100755 mypalletizer_communication/scripts/mypal_topics.py create mode 100644 mypalletizer_communication/scripts/mypal_topics_seeed.py create mode 100644 mypalletizer_communication/scripts/test.py create mode 100644 mypalletizer_communication/srv/GetAngles.srv create mode 100644 mypalletizer_communication/srv/GetCoords.srv create mode 100644 mypalletizer_communication/srv/GripperStatus.srv create mode 100644 mypalletizer_communication/srv/PumpStatus.srv create mode 100644 mypalletizer_communication/srv/SetAngles.srv create mode 100644 mypalletizer_communication/srv/SetCoords.srv diff --git a/mycobot_description/urdf/260_urdf/base.dae b/mycobot_description/urdf/260_urdf/base.dae new file mode 100644 index 0000000..a5d7f78 --- /dev/null +++ b/mycobot_description/urdf/260_urdf/base.dae @@ -0,0 +1,250 @@ + + + + + + Rhinoceros 7.5.21082.11001 + Output from Rhinoceros COLLADA Exporter + + + 2022-03-01T03:07:26Z + 2022-03-01T03:07:26Z + + Z_UP + + + + + + + 55.909354 + 2.211230 + 128.515932 + 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1144 1144 1145 1145 1145 863 863 863 1137 1137 1137 1138 1138 1138 1139 1139 1139 12 12 12 1138 1138 1138 865 865 865 1136 1136 1136 1137 1137 1137 1137 1137 1137 864 864 864 865 865 865 1136 1136 1136 866 866 866 867 867 867 863 863 863 864 864 864 1137 1137 1137 1136 1136 1136 865 865 865 866 866 866 1139 1139 1139 1140 1140 1140 12 12 12 1135 1135 1135 1136 1136 1136 867 867 867 1138 1138 1138 862 862 862 863 863 863 867 867 867 868 868 868 1135 1135 1135 42 42 42 857 857 857 18 18 18 32 32 32 33 33 33 1145 1145 1145 18 18 18 857 857 857 858 858 858 857 857 857 42 42 42 856 856 856 855 855 855 856 856 856 42 42 42 855 855 855 43 43 43 854 854 854 861 861 861 862 862 862 1138 1138 1138 859 859 859 860 860 860 14 14 14 858 858 858 859 859 859 16 16 16 861 861 861 13 13 13 860 860 860 43 43 43 855 855 855 42 42 42 44 44 44 853 853 853 854 854 854 43 43 43 44 44 44 854 854 854 45 45 45 853 853 853 44 44 44 46 46 46 852 852 852 45 45 45 45 45 45 852 852 852 853 853 853 850 850 850 519 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+ + + + + 1 + + + + + + + + 0.863402 -0.500538 -0.063234 -270.858565 0.504517 0.856593 0.108216 304.961075 0.000000 -0.125336 0.992114 1504.561540 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 182.257732 0.000000 1.000000 0.000000 19.104089 0.000000 0.000000 1.000000 97.328434 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -166.390118 0.000000 0.000000 -1.000000 -148.838212 0.000000 1.000000 0.000000 -87.572433 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 185.530121 1.000000 0.000000 0.000000 170.417999 0.000000 1.000000 0.000000 -85.417263 0.000000 0.000000 0.000000 1.000000 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/260_urdf/mypal_260.urdf b/mycobot_description/urdf/260_urdf/mypal_260.urdf new file mode 100644 index 0000000..d62d118 --- /dev/null +++ b/mycobot_description/urdf/260_urdf/mypal_260.urdf @@ -0,0 +1,154 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mypalletizer_260/CMakeLists.txt b/mypalletizer_260/CMakeLists.txt new file mode 100755 index 0000000..fa0337f --- /dev/null +++ b/mypalletizer_260/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mypalletizer_260) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge +) + +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS std_msgs actionlib +) + +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/follow_display.py + scripts/slider_control.py + scripts/teleop_keyboard.py + scripts/listen_real.py + scripts/listen_real_of_topic.py + scripts/detect_marker.py + scripts/following_marker.py + scripts/follow_and_pump.py + scripts/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# find_package(OpenCV REQUIRED) +# add_executable(opencv_camera src/opencv_camera) +# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# add_executable(camera_display src/camera_display) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/mypalletizer_260/LICENSE b/mypalletizer_260/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mypalletizer_260/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mypalletizer_260/config/mycobot_with_marker.rviz b/mypalletizer_260/config/mycobot_with_marker.rviz new file mode 100644 index 0000000..8b0dc7f --- /dev/null +++ b/mypalletizer_260/config/mycobot_with_marker.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + - /Marker1/Namespaces1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference 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 + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + basic_shapes: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + basic_shapes: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + basic_cube: true + Queue Size: 100 + Value: 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 + Topic: /initialpose + - 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: 2.11990476 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0706475973 + Y: -0.0814988762 + Z: 0.107583851 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.375398338 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.235389769 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mypalletizer_260/config/mypal_260.rviz b/mypalletizer_260/config/mypal_260.rviz new file mode 100644 index 0000000..23baf54 --- /dev/null +++ b/mypalletizer_260/config/mypal_260.rviz @@ -0,0 +1,197 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand link Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + 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 + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + link1: + Value: true + link2: + Value: true + link3: + Value: true + link4: + Value: true + link5: + Value: true + + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + link1: + link2: + link3: + link4: + link5: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + 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 + Topic: /initialpose + - 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: 1.20289087 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0.107583851 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.440398335 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.430389732 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mypalletizer_260/launch/detect_marker.launch b/mypalletizer_260/launch/detect_marker.launch new file mode 100644 index 0000000..dec163d --- /dev/null +++ b/mypalletizer_260/launch/detect_marker.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/launch/detect_marker_with_topic.launch b/mypalletizer_260/launch/detect_marker_with_topic.launch new file mode 100644 index 0000000..3acedc6 --- /dev/null +++ b/mypalletizer_260/launch/detect_marker_with_topic.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/launch/follow.launch b/mypalletizer_260/launch/follow.launch new file mode 100644 index 0000000..56fdccc --- /dev/null +++ b/mypalletizer_260/launch/follow.launch @@ -0,0 +1,11 @@ + + + + + + + + ["joint_states"] + + + diff --git a/mypalletizer_260/launch/simple_gui.launch b/mypalletizer_260/launch/simple_gui.launch new file mode 100644 index 0000000..b9750ac --- /dev/null +++ b/mypalletizer_260/launch/simple_gui.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/launch/slider_control.launch b/mypalletizer_260/launch/slider_control.launch new file mode 100644 index 0000000..180916d --- /dev/null +++ b/mypalletizer_260/launch/slider_control.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/launch/teleop_keyboard.launch b/mypalletizer_260/launch/teleop_keyboard.launch new file mode 100644 index 0000000..df04a44 --- /dev/null +++ b/mypalletizer_260/launch/teleop_keyboard.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/launch/test.launch b/mypalletizer_260/launch/test.launch new file mode 100644 index 0000000..3f79219 --- /dev/null +++ b/mypalletizer_260/launch/test.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260/package.xml b/mypalletizer_260/package.xml new file mode 100644 index 0000000..754185e --- /dev/null +++ b/mypalletizer_260/package.xml @@ -0,0 +1,47 @@ + + + mypalletizer_260 + 0.3.0 + The mypalletizer 260 package + + ZhangLijun + ZhangLijun + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + mypalletizer_communication + + mypalletizer_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + mypalletizer_communication + + + + + + + + diff --git a/mypalletizer_260/scripts/detect_marker.py b/mypalletizer_260/scripts/detect_marker.py new file mode 100755 index 0000000..04ca483 --- /dev/null +++ b/mypalletizer_260/scripts/detect_marker.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python +import rospy +import cv2 as cv +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +from sensor_msgs.msg import Image +import tf +from tf.broadcaster import TransformBroadcaster +import tf_conversions +from mycobot_communication.srv import ( + GetCoords, + SetCoords, + GetAngles, + SetAngles, + GripperStatus, +) + + +class ImageConverter: + def __init__(self): + self.br = TransformBroadcaster() + self.bridge = CvBridge() + self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) + self.aruo_params = cv.aruco.DetectorParameters_create() + calibrationParams = cv.FileStorage( + "calibrationFileName.xml", cv.FILE_STORAGE_READ + ) + self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() + self.camera_matrix = None + # subscriber, listen wether has img come in. + self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) + + def callback(self, data): + """Callback function. + + Process image with OpenCV, detect Mark to get the pose. Then acccording the + pose to transforming. + """ + try: + # trans `rgb` to `gbr` for opencv. + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + size = cv_image.shape + focal_length = size[1] + center = [size[1] / 2, size[0] / 2] + if self.camera_matrix is None: + # calc the camera matrix, if don't have. + self.camera_matrix = np.array( + [ + [focal_length, 0, center[0]], + [0, focal_length, center[1]], + [0, 0, 1], + ], + dtype=np.float32, + ) + gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) + # detect aruco marker. + ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) + corners, ids = ret[0], ret[1] + # process marker data. + if len(corners) > 0: + if ids is not None: + # print('corners:', corners, 'ids:', ids) + + # detect marker pose. + # argument: + # marker corners + # marker size (meter) + ret = cv.aruco.estimatePoseSingleMarkers( + corners, 0.05, self.camera_matrix, self.dist_coeffs + ) + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + + print("rvec:", rvec, "tvec:", tvec) + + # just select first one detected marker. + for i in range(rvec.shape[0]): + cv.aruco.drawDetectedMarkers(cv_image, corners) + cv.aruco.drawAxis( + cv_image, + self.camera_matrix, + self.dist_coeffs, + rvec[i, :, :], + tvec[i, :, :], + 0.03, + ) + + xyz = tvec[0, 0, :] + xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] + + # get quaternion for ros. + euler = rvec[0, 0, :] + tf_change = tf.transformations.quaternion_from_euler( + euler[0], euler[1], euler[2] + ) + print("tf_change:", tf_change) + + # trans pose according [joint1] + self.br.sendTransform( + xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" + ) + + # [x, y, z, -172, 3, -46.8] + cv.imshow("Image", cv_image) + + cv.waitKey(3) + try: + pass + except CvBridgeError as e: + print(e) + + +if __name__ == "__main__": + try: + rospy.init_node("detect_marker") + rospy.loginfo("Starting cv_bridge_test node") + ImageConverter() + rospy.spin() + except KeyboardInterrupt: + print("Shutting down cv_bridge_test node.") + cv.destroyAllWindows() diff --git a/mypalletizer_260/scripts/follow_and_pump.py b/mypalletizer_260/scripts/follow_and_pump.py new file mode 100755 index 0000000..f26b669 --- /dev/null +++ b/mypalletizer_260/scripts/follow_and_pump.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# 与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# 控制 mycobot 的 topic，依次是角度、坐标、夹爪 +angle_pub = rospy.Publisher("mycobot/angles_goal", + MycobotSetAngles, queue_size=5) +coord_pub = rospy.Publisher("mycobot/coords_goal", + MycobotSetCoords, queue_size=5) +# Judging equipment: ttyUSB* is M5；ttyACM* is wio +robot = os.popen("ls /dev/ttyUSB*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# 实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# 与 mycobot 真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# 通过该变量限制，抓取行为只做一次 +flag = False + +# 为了后面比较二维码是否移动 +temp_x = temp_y = temp_z = 0.0 + +temp_time = time.time() + + +def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): + """发布坐标""" + coords.x = x + coords.y = y + coords.z = z + coords.rx = rx + coords.ry = ry + coords.rz = rz + coords.speed = 70 + coords.model = m + # print(coords) + coord_pub.publish(coords) + + +def pub_angles(a, b, c, d, e, f, sp): + """发布角度""" + angles.joint_1 = float(a) + angles.joint_2 = float(b) + angles.joint_3 = float(c) + angles.joint_4 = float(d) + angles.joint_5 = float(e) + angles.joint_6 = float(f) + angles.speed = sp + angle_pub.publish(angles) + + +def pub_pump(flag, Pin): + """发布夹爪状态""" + pump.Status = flag + pump.Pin1 = Pin[0] + pump.Pin2 = Pin[1] + pump_pub.publish(pump) + + +def target_is_moving(x, y, z): + """判断目标是否移动""" + count = 0 + for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): + print(o, n) + if abs(o - n) < 2: + count += 1 + print(count) + if count == 3: + return False + return True + + +def grippercallback(data): + """回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # 解析出坐标值 + # pump length: 88mm + x = float(format(data.pose.position.x * 1000, ".2f")) + y = float(format(data.pose.position.y * 1000, ".2f")) + z = float(format(data.pose.position.z * 1000, ".2f")) + + # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 + if ( + time.time() - temp_time < 30 + or (temp_x == temp_y == temp_z == 0.0) + or target_is_moving(x - x_offset, y - y_offset, z) + ): + + x -= x_offset + y -= y_offset + pub_coords(x - 20, y, 280) + time.sleep(0.1) + + temp_x, temp_y, temp_z = x, y, z + return + else: # 表示目标处于静止状态，可以尝试抓取 + + print(x, y, z) + + # detect heigth + pump height + limit height + offset + x += x_offset + y += y_offset + z = z + 88 + z_offset + + pub_coords(x, y, z) + time.sleep(2.5) + + # down + for i in range(1, 17): + pub_coords(x, y, z - i * 5, rx=-160, sp=10) + time.sleep(0.1) + + time.sleep(2) + + pub_pump(True, Pin) + # pump on + + pub_coords(x, y, z + 20, -165) + time.sleep(1.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + put_z = 140 + pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2) + time.sleep(1.5) + + for i in range(1, 8): + pub_coords(39.4, -174.7, put_z - i * 5, - + 177.13, -4.13, -152.59, 15, 2) + time.sleep(0.1) + + pub_pump(False, Pin) + + time.sleep(0.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + # finally + flag = True + + +def main(): + for _ in range(10): + # pub_coords(150, 20, 220, -175, 0, -90, 70, 2) + pub_angles(0, 30, -50, -40, 0, 0, 50) + # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70) + time.sleep(0.5) + + pub_pump(False, Pin) + # time.sleep(2.5) + + # mark 信息的订阅者 + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/mypalletizer_260/scripts/follow_display.py b/mypalletizer_260/scripts/follow_display.py new file mode 100755 index 0000000..19cd207 --- /dev/null +++ b/mypalletizer_260/scripts/follow_display.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python2 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker + + +from pymycobot.mypalletizer import MyPalletizer + + +def talker(): + rospy.init_node("display", anonymous=True) + + print("Try connect real mypal...") + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print("port: {}, baud: {}\n".format(port, baud)) + try: + mypa = MyPalletizer(port, baud) + except Exception as e: + print(e) + print( + """\ + \rTry connect mypalletizer failed! + \rPlease check wether connected with MyPalletizer. + \rPlease chckt wether the port or baud is right. + """ + ) + exit(1) + mypa.release_all_servos() + time.sleep(0.1) + print("Rlease all servos over.\n") + + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + marker_ = Marker() + marker_.header.frame_id = "/base" + marker_.ns = "my_namespace" + + print("publishing ...") + while not rospy.is_shutdown(): + joint_state_send.header.stamp = rospy.Time.now() + + angles = mypa.get_radians() + data_list = [] + for index, value in enumerate(angles): + data_list.append(value) + + # rospy.loginfo('{}'.format(data_list)) + joint_state_send.position = data_list + + data_list.insert(3,0.0) + print(joint_state_send.position) + + pub.publish(joint_state_send) + + coords = mypa.get_coords() + + # marker + marker_.header.stamp = rospy.Time.now() + marker_.type = marker_.SPHERE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial + # print(coords) + if not coords: + # coords = [0, 0, 0, 0, 0 ] + coords = [0, 0, 0, 0] + + # rospy.loginfo("error [101]: can not get coord values") + + marker_.pose.position.x = coords[1] / 1000 * -1 + marker_.pose.position.y = coords[0] / 1000 + marker_.pose.position.z = coords[2] / 1000 + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mypalletizer_260/scripts/following_marker.py b/mypalletizer_260/scripts/following_marker.py new file mode 100755 index 0000000..4afe3f9 --- /dev/null +++ b/mypalletizer_260/scripts/following_marker.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +import tf + + +def talker(): + rospy.init_node("following_marker", anonymous=True) + + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(20) + + listener = tf.TransformListener() + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "basic_cube" + + print("publishing ...") + while not rospy.is_shutdown(): + now = rospy.Time.now() - rospy.Duration(0.1) + + try: + trans, rot = listener.lookupTransform("joint1", "basic_shapes", now) + except Exception as e: + print(e) + continue + + print(type(trans), trans) + print(type(rot), rot) + + # marker + marker_.header.stamp = now + marker_.type = marker_.CUBE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial + marker_.pose.position.x = trans[0] + marker_.pose.position.y = trans[1] + marker_.pose.position.z = trans[2] + marker_.pose.orientation.x = rot[0] + marker_.pose.orientation.y = rot[1] + marker_.pose.orientation.z = rot[2] + marker_.pose.orientation.w = rot[3] + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mypalletizer_260/scripts/listen_real.py b/mypalletizer_260/scripts/listen_real.py new file mode 100755 index 0000000..1d853f0 --- /dev/null +++ b/mypalletizer_260/scripts/listen_real.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python2 +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +# from mycobot_communication.srv import GetAngles +from mypalletizer_communication.srv import GetAngles +# from pymycobot.mypalletizer import MyPalletizer + + +def talker(): + rospy.loginfo("start ...") + rospy.init_node("real_listener", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable. + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server. + res = func() + if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: + continue + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + 0, + res.joint_4 * (math.pi / 180), + + ] + rospy.loginfo("res: {}".format(radians_list)) + + # publish angles. + joint_state_send.header.stamp = rospy.Time.now() + joint_state_send.position = radians_list + pub.publish(joint_state_send) + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mypalletizer_260/scripts/listen_real_of_topic.py b/mypalletizer_260/scripts/listen_real_of_topic.py new file mode 100755 index 0000000..e6770b8 --- /dev/null +++ b/mypalletizer_260/scripts/listen_real_of_topic.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python2 +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +# from mycobot_communication.msg import MycobotAngles +from mypalletizer_communication.msg import MypalAngles + + +class Listener(object): + def __init__(self): + super(Listener, self).__init__() + + rospy.loginfo("start ...") + rospy.init_node("real_listener_1", anonymous=True) + # init publisher. + self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) + # init subscriber. + self.sub = rospy.Subscriber("mypal/angles_real", MypalAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`mycobot/angles_real` subscriber callback method. + + Args: + data (MycobotAngles): callback argument. + """ + # ini publisher object. + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + # "joint6_to_joint5", + # "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + joint_state_send.header.stamp = rospy.Time.now() + + # process callback data. + radians_list = [ + data.joint_1 * (math.pi / 180), + data.joint_2 * (math.pi / 180), + data.joint_3 * (math.pi / 180), + data.joint_4 * (math.pi / 180), + # data.joint_5 * (math.pi / 180), + # data.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + joint_state_send.position = radians_list + self.pub.publish(joint_state_send) + + +if __name__ == "__main__": + try: + Listener() + except rospy.ROSInterruptException: + pass diff --git a/mypalletizer_260/scripts/simple_gui.py b/mypalletizer_260/scripts/simple_gui.py new file mode 100755 index 0000000..d9aa6e4 --- /dev/null +++ b/mypalletizer_260/scripts/simple_gui.py @@ -0,0 +1,411 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +import Tkinter as tk +from mypalletizer_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import time +from rospy import ServiceException + + +class Window: + def __init__(self, handle): + self.win = handle + self.win.resizable(0, 0) # 固定窗口大小 fixed window size + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # 设置默认速度 set default speed + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # # 获取机械臂数据 get data + self.record_coords = [0, 0, 0, 0,self.speed, self.model] + self.res_angles = [0, 0, 0, 0, self.speed, self.model] + self.get_date() + + # get screen width and height + self.ws = self.win.winfo_screenwidth() # width of the screen + self.hs = self.win.winfo_screenheight() # height of the screen + # calculate x and y coordinates for the Tk root window + x = (self.ws / 2) - 190 + y = (self.hs / 2) - 250 + self.win.geometry("430x350+{}+{}".format(x, y)) + # 布局 layout + self.set_layout() + # 输入部分 input + self.need_input() + # 展示部分 show info + self.show_init() + + # joint 设置按钮 Settings button + tk.Button(self.frmLT, text="Set", width=5, command=self.get_joint_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # coordination 设置按钮 Settings button + tk.Button(self.frmRT, text="Set", width=5, command=self.get_coord_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # 夹爪开关按钮 Gripper Switch + tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid( + row=1, column=0, sticky="w", padx=3, pady=50 + ) + tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid( + row=1, column=1, sticky="w", padx=3, pady=2 + ) + + def connect_ser(self): + rospy.init_node("simple_gui", anonymous=True, disable_signals=True) + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + try: + self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + self.switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus + ) + except: + print("start error ...") + exit(1) + + print("Connect service success.") + + def set_layout(self): + self.frmLT = tk.Frame(width=200, height=200) + self.frmLC = tk.Frame(width=200, height=200) + self.frmLB = tk.Frame(width=200, height=200) + self.frmRT = tk.Frame(width=200, height=200) + self.frmLT.grid(row=0, column=0, padx=1, pady=3) + self.frmLC.grid(row=1, column=0, padx=1, pady=3) + self.frmLB.grid(row=1, column=1, padx=2, pady=3) + self.frmRT.grid(row=0, column=1, padx=2, pady=3) + + def need_input(self): + # 输入提示 input hint + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) + + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) + tk.Label(self.frmRT, text=" z ").grid(row=2) + tk.Label(self.frmRT, text=" rx ").grid(row=3) + + + # 设置输入框的默认值 Set the default value of the input box + self.j1_default = tk.StringVar() + self.j1_default.set(self.res_angles[0]) + self.j2_default = tk.StringVar() + self.j2_default.set(self.res_angles[1]) + self.j3_default = tk.StringVar() + self.j3_default.set(self.res_angles[2]) + self.j4_default = tk.StringVar() + self.j4_default.set(self.res_angles[3]) + + + self.x_default = tk.StringVar() + self.x_default.set(self.record_coords[0]) + self.y_default = tk.StringVar() + self.y_default.set(self.record_coords[1]) + self.z_default = tk.StringVar() + self.z_default.set(self.record_coords[2]) + self.rx_default = tk.StringVar() + self.rx_default.set(self.record_coords[3]) + + + # joint input box 输入框 + self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) + self.J_1.grid(row=0, column=1, pady=3) + self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) + self.J_2.grid(row=1, column=1, pady=3) + self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) + self.J_3.grid(row=2, column=1, pady=3) + self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) + self.J_4.grid(row=3, column=1, pady=3) + + + # coord input box 输入框 + self.x = tk.Entry(self.frmRT, textvariable=self.x_default) + self.x.grid(row=0, column=1, pady=3, padx=0) + self.y = tk.Entry(self.frmRT, textvariable=self.y_default) + self.y.grid(row=1, column=1, pady=3) + self.z = tk.Entry(self.frmRT, textvariable=self.z_default) + self.z.grid(row=2, column=1, pady=3) + self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) + self.rx.grid(row=3, column=1, pady=3) + + + # 所有输入框，用于拿输入的数据 all input box + self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4] + self.all_c = [self.x, self.y, self.z, self.rx] + + + + # 速度输入框 speed input box + tk.Label( + self.frmLB, + text="speed", + ).grid(row=0, column=0) + self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10) + self.get_speed.grid(row=0, column=1) + + def show_init(self): + # 显示 display + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) + + self.cont_1 = tk.StringVar(self.frmLC) + self.cont_1.set(str(self.res_angles[0]) + "°") + self.cont_2 = tk.StringVar(self.frmLC) + self.cont_2.set(str(self.res_angles[1]) + "°") + self.cont_3 = tk.StringVar(self.frmLC) + self.cont_3.set(str(self.res_angles[2]) + "°") + self.cont_4 = tk.StringVar(self.frmLC) + self.cont_4.set(str(self.res_angles[3]) + "°") + + self.cont_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.cont_4, + self.speed, + self.model, + ] + + self.show_j1 = tk.Label( + self.frmLC, + textvariable=self.cont_1, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=1, padx=0, pady=5) + + self.show_j2 = tk.Label( + self.frmLC, + textvariable=self.cont_2, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=1, padx=0, pady=5) + self.show_j3 = tk.Label( + self.frmLC, + textvariable=self.cont_3, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=1, padx=0, pady=5) + self.show_j4 = tk.Label( + self.frmLC, + textvariable=self.cont_4, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=1, padx=0, pady=5) + + self.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + self.show_j4, + + ] + + # 显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行 + tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) + tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) + + self.coord_x = tk.StringVar() + self.coord_x.set(str(self.record_coords[0])) + self.coord_y = tk.StringVar() + self.coord_y.set(str(self.record_coords[1])) + self.coord_z = tk.StringVar() + self.coord_z.set(str(self.record_coords[2])) + self.coord_rx = tk.StringVar() + self.coord_rx.set(str(self.record_coords[3])) + + + self.coord_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.coord_rx, + self.speed, + self.model, + ] + + self.show_x = tk.Label( + self.frmLC, + textvariable=self.coord_x, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=4, padx=5, pady=5) + self.show_y = tk.Label( + self.frmLC, + textvariable=self.coord_y, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=4, padx=5, pady=5) + self.show_z = tk.Label( + self.frmLC, + textvariable=self.coord_z, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=4, padx=5, pady=5) + self.show_rx = tk.Label( + self.frmLC, + textvariable=self.coord_rx, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=4, padx=5, pady=5) + + # mm 单位展示 show label"mm" + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(4): + tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( + row=i, column=5 + ) + + def gripper_open(self): + try: + self.switch_gripper(True) + except ServiceException: + pass + + def gripper_close(self): + try: + self.switch_gripper(False) + except ServiceException: + pass + + def get_coord_input(self): + # 获取 coord 输入的数据，发送给机械臂 + c_value = [] + for i in self.all_c: + # print(type(i.get())) + c_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + c_value.append(self.speed) + c_value.append(self.model) + # print(c_value) + try: + self.set_coords(*c_value) + except ServiceException: + pass + self.show_j_date(c_value[:-2], "coord") + + def get_joint_input(self): + # 获取joint输入的数据，发送给机械臂 Get the data of the joint and send it to the robotic arm + j_value = [] + for i in self.all_j: + # print(type(i.get())) + j_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + j_value.append(self.speed) + + try: + self.set_angles(*j_value) + except ServiceException: + pass + self.show_j_date(j_value[:-1]) + # return j_value,c_value,speed + + def get_date(self): + # 拿机械臂的数据，用于展示 Get the data of robotic arm for display + t = time.time() + while time.time() - t < 2: + self.res = self.get_coords() + + print(self.res) + + if self.res.x > 1: + break + time.sleep(0.1) + + t = time.time() + while time.time() - t < 2: + self.angles = self.get_angles() + if self.angles.joint_1 > 1: + break + time.sleep(0.1) + # print(self.angles.joint_1) + self.record_coords = [ + round(self.res.x, 2), + round(self.res.y, 2), + round(self.res.z, 2), + round(self.res.rx, 2), + self.speed, + self.model, + ] + self.res_angles = [ + round(self.angles.joint_1, 2), + round(self.angles.joint_2, 2), + round(self.angles.joint_3, 2), + round(self.angles.joint_4, 2), + ] + # print('coord:',self.record_coords) + # print('angles:',self.res_angles) + + # def send_input(self,dates): + def show_j_date(self, date, way=""): + # 展示数据 + if way == "coord": + for i, j in zip(date, self.coord_all): + # print(i) + j.set(str(i)) + else: + for i, j in zip(date, self.cont_all): + j.set(str(i) + "°") + + def run(self): + while True: + try: + self.win.update() + time.sleep(0.001) + except tk.TclError as e: + if "application has been destroyed" in str(e): + break + else: + raise + + +def main(): + window = tk.Tk() + window.title("mycobot ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() diff --git a/mypalletizer_260/scripts/slider_control.py b/mypalletizer_260/scripts/slider_control.py new file mode 100755 index 0000000..254e4b2 --- /dev/null +++ b/mypalletizer_260/scripts/slider_control.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python2 + +"""[summary] +This file obtains the joint angle of the manipulator in ROS, +and then sends it directly to the real manipulator using `pymycobot` API. +This file is [slider_control.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyUSB0' + baud: serial prot baudrate. Defaults is 115200. +""" + +import rospy +from sensor_msgs.msg import JointState + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(value) + del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! + # data_list[3] = data_list[4] + # print(data_list) + mc.send_radians(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyPalletizer(port, baud) + + # spin() simply keeps python from exiting until this node is stopped + print("spin ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mypalletizer_260/scripts/teleop_keyboard.py b/mypalletizer_260/scripts/teleop_keyboard.py new file mode 100755 index 0000000..c009615 --- /dev/null +++ b/mypalletizer_260/scripts/teleop_keyboard.py @@ -0,0 +1,164 @@ +#!/usr/bin/env python +from __future__ import print_function +# from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +from mypalletizer_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import sys +import select +import termios +import tty +import time + +import roslib + + +msg = """\ +Mypalletizer Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z,rx]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + + u(rx+) i(rx-) + + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 40) + change_percent = rospy.get_param("~change_percent", 5) + + change_angle = 180 * change_percent / 100 + change_len = 250 * change_percent / 100 + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + print("service ready.") + try: + get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus) + except: + print("start error ...") + exit(1) + + + init_pose = [0, 0,0, 0, speed] + home_pose = [0,30, 30, 0,speed] + + # rsp = set_angles(*init_pose) + + while True: + res = get_coords() + if res.x > 1: + break + time.sleep(0.1) + + record_coords = [res.x, res.y, res.z, res.rx, speed, model] + + print(record_coords) + + try: + print(msg) + print(vels(speed, change_percent)) + while 1: + try: + # print("\r current coords: %s" % record_coords, end="") + with Raw(sys.stdin): + key = sys.stdin.read(1) + if key == "q": + break + elif key in ["w", "W"]: + record_coords[0] += change_len + set_coords(*record_coords) + elif key in ["s", "S"]: + record_coords[0] -= change_len + set_coords(*record_coords) + elif key in ["a", "A"]: + record_coords[1] -= change_len + set_coords(*record_coords) + elif key in ["d", "D"]: + record_coords[1] += change_len + set_coords(*record_coords) + elif key in ["z", "Z"]: + record_coords[2] -= change_len + set_coords(*record_coords) + elif key in ["x", "X"]: + record_coords[2] += change_len + set_coords(*record_coords) + elif key in ["u", "U"]: + record_coords[3] += change_angle + set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[3] -= change_angle + set_coords(*record_coords) + elif key in ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + elif key in "2": + rsp = set_angles(*home_pose) + elif key in "3": + rep = get_angles() + home_pose[0] = rep.joint_1 + home_pose[1] = rep.joint_2 + home_pose[2] = rep.joint_3 + home_pose[3] = rep.joint_4 + # home_pose[4] = rep.joint_5 + else: + continue + + except Exception as e: + # print(e) + continue + + except Exception as e: + print(e) + + +if __name__ == "__main__": + try: + teleop_keyboard() + except rospy.ROSInterruptException: + pass diff --git a/mypalletizer_260_moveit/CMakeLists.txt b/mypalletizer_260_moveit/CMakeLists.txt new file mode 100644 index 0000000..67ac15b --- /dev/null +++ b/mypalletizer_260_moveit/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mypalletizer_260_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + scripts/path_planning_and_obstacle_avoidance_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mypalletizer_260_moveit/LICENSE b/mypalletizer_260_moveit/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mypalletizer_260_moveit/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mypalletizer_260_moveit/config/chomp_planning.yaml b/mypalletizer_260_moveit/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/mypalletizer_260_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/fake_controllers.yaml b/mypalletizer_260_moveit/config/fake_controllers.yaml new file mode 100644 index 0000000..bb2abb5 --- /dev/null +++ b/mypalletizer_260_moveit/config/fake_controllers.yaml @@ -0,0 +1,10 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + + # - joint6output_to_joint6 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/firefighter.srdf b/mypalletizer_260_moveit/config/firefighter.srdf new file mode 100644 index 0000000..9781c25 --- /dev/null +++ b/mypalletizer_260_moveit/config/firefighter.srdf @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/config/joint_limits.yaml b/mypalletizer_260_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..f51037d --- /dev/null +++ b/mypalletizer_260_moveit/config/joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1_to_base: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint2_to_joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3_to_joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4_to_joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5_to_joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + # joint6_to_joint5: + # has_velocity_limits: false + # max_velocity: 0 + # has_acceleration_limits: false + # max_acceleration: 0 + # joint6output_to_joint6: + # has_velocity_limits: false + # max_velocity: 0 + # has_acceleration_limits: false + # max_acceleration: 0 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/kinematics.yaml b/mypalletizer_260_moveit/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/mypalletizer_260_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/ompl_planning.yaml b/mypalletizer_260_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..3f4d0c2 --- /dev/null +++ b/mypalletizer_260_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: None + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/ros_controllers.yaml b/mypalletizer_260_moveit/config/ros_controllers.yaml new file mode 100644 index 0000000..86c9156 --- /dev/null +++ b/mypalletizer_260_moveit/config/ros_controllers.yaml @@ -0,0 +1,27 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + # - joint6_to_joint5 + # - joint6output_to_joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/sensors_3d.yaml b/mypalletizer_260_moveit/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/mypalletizer_260_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..29cc7ab --- /dev/null +++ b/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/default_warehouse_db.launch b/mypalletizer_260_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..83d8e9d --- /dev/null +++ b/mypalletizer_260_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/demo.launch b/mypalletizer_260_moveit/launch/demo.launch new file mode 100644 index 0000000..ef13292 --- /dev/null +++ b/mypalletizer_260_moveit/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/demo_gazebo.launch b/mypalletizer_260_moveit/launch/demo_gazebo.launch new file mode 100644 index 0000000..925bfa1 --- /dev/null +++ b/mypalletizer_260_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml b/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..9b5c686 --- /dev/null +++ b/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..7aad413 --- /dev/null +++ b/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mypalletizer_260_moveit/launch/gazebo.launch b/mypalletizer_260_moveit/launch/gazebo.launch new file mode 100644 index 0000000..a34b0ad --- /dev/null +++ b/mypalletizer_260_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/joystick_control.launch b/mypalletizer_260_moveit/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/mypalletizer_260_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/move_group.launch b/mypalletizer_260_moveit/launch/move_group.launch new file mode 100644 index 0000000..1638533 --- /dev/null +++ b/mypalletizer_260_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/moveit.rviz b/mypalletizer_260_moveit/launch/moveit.rviz new file mode 100644 index 0000000..fea68f1 --- /dev/null +++ b/mypalletizer_260_moveit/launch/moveit.rviz @@ -0,0 +1,244 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.742560029 + Tree Height: 325 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +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: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + + + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.0799999982 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: mycobot_arm + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.200000003 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + + + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.39158678 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + 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: 0.00999999978 + Pitch: 0.439796686 + Target Frame: link1 + Value: XYOrbit (rviz) + Yaw: 2.5317657 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 92 + Y: 24 diff --git a/mypalletizer_260_moveit/launch/moveit_rviz.launch b/mypalletizer_260_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..effca9d --- /dev/null +++ b/mypalletizer_260_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/mypal_moveit.launch b/mypalletizer_260_moveit/launch/mypal_moveit.launch new file mode 100644 index 0000000..ef13292 --- /dev/null +++ b/mypalletizer_260_moveit/launch/mypal_moveit.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..635cb70 --- /dev/null +++ b/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/planning_context.launch b/mypalletizer_260_moveit/launch/planning_context.launch new file mode 100644 index 0000000..2598e0c --- /dev/null +++ b/mypalletizer_260_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..3d1875c --- /dev/null +++ b/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/ros_controllers.launch b/mypalletizer_260_moveit/launch/ros_controllers.launch new file mode 100644 index 0000000..3bb4041 --- /dev/null +++ b/mypalletizer_260_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch b/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..799e778 --- /dev/null +++ b/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/sensor_manager.launch.xml b/mypalletizer_260_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..922d5a6 --- /dev/null +++ b/mypalletizer_260_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/setup_assistant.launch b/mypalletizer_260_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..8191e48 --- /dev/null +++ b/mypalletizer_260_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml b/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..fca6d89 --- /dev/null +++ b/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/warehouse.launch b/mypalletizer_260_moveit/launch/warehouse.launch new file mode 100644 index 0000000..e3ce98a --- /dev/null +++ b/mypalletizer_260_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml b/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mypalletizer_260_moveit/package.xml b/mypalletizer_260_moveit/package.xml new file mode 100644 index 0000000..1564b22 --- /dev/null +++ b/mypalletizer_260_moveit/package.xml @@ -0,0 +1,40 @@ + + + mypalletizer_260_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + zachary + zachary + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + + mycobot_description + + + diff --git a/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py new file mode 100644 index 0000000..f47c0e8 --- /dev/null +++ b/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -0,0 +1,125 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy, roslib, sys +import moveit_commander +from moveit_msgs.msg import RobotTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from geometry_msgs.msg import PoseStamped, Pose +from tf.transformations import euler_from_quaternion, quaternion_from_euler + + +class MoveItPlanningDemo: + def __init__(self): + # 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # 初始化ROS节点 + rospy.init_node("moveit_ik_demo") + + # 初始化场景对象，用来监听外部环境的变化 + self.scene = moveit_commander.PlanningSceneInterface() + rospy.sleep(1) + + # 初始化需要使用move group控制的机械臂中的self.arm group + self.arm = moveit_commander.MoveGroupCommander("arm_group") + + # 获取终端link的名称 + self.end_effector_link = self.arm.get_end_effector_link() + + # 设置目标位置所使用的参考坐标系 + self.reference_frame = "joint1" + self.arm.set_pose_reference_frame(self.reference_frame) + + # 当运动规划失败后，允许重新规划 + self.arm.allow_replanning(True) + + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm.set_goal_position_tolerance(0.01) + self.arm.set_goal_orientation_tolerance(0.05) + + def moving(self): + # # 控制机械臂先回到初始化位置 + self.arm.set_named_target("init_pose") + self.arm.go() + rospy.sleep(2) + + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.132 + target_pose.pose.position.y = -0.150 + target_pose.pose.position.z = 0.075 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # 设置机器臂当前的状态作为运动初始状态 + self.arm.set_start_state_to_current_state() + + # 设置机械臂终端运动的目标位姿 + self.arm.set_pose_target(target_pose, self.end_effector_link) + + # 规划运动路径 + traj = self.arm.plan() + + # 按照规划的运动路径控制机械臂运动 + self.arm.execute(traj) + rospy.sleep(1) + + # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy + self.arm.shift_pose_target(1, 0.12, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + self.arm.shift_pose_target(1, 0.1, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + # 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy + # self.arm.shift_pose_target(3, -1.57, end_effector_link) + # self.arm.go() + # rospy.sleep(1) + + def run(self): + self.scene.remove_world_object("suit") + + # 没有障碍物运行一次 + self.moving() + + # 添加环境 + quat = quaternion_from_euler(3.1415, 0, -1.57) + + suit_post = PoseStamped() + suit_post.header.frame_id = self.reference_frame + suit_post.pose.position.x = 0.0 + suit_post.pose.position.y = 0.0 + suit_post.pose.position.z = -0.02 + suit_post.pose.orientation.x = quat[0] + suit_post.pose.orientation.y = quat[1] + suit_post.pose.orientation.z = quat[2] + suit_post.pose.orientation.w = quat[3] + + suit_path = ( + roslib.packages.get_pkg_dir("mycobot_description") + + "/urdf/mycobot/suit_env.dae" + ) + # need `pyassimp==3.3` + self.scene.add_mesh("suit", suit_post, suit_path) + rospy.sleep(2) + + # 有环境影响后在运行一次 + self.moving() + + # 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == "__main__": + o = MoveItPlanningDemo() + o.run() diff --git a/mypalletizer_260_moveit/scripts/sync_plan.py b/mypalletizer_260_moveit/scripts/sync_plan.py new file mode 100755 index 0000000..1fddf52 --- /dev/null +++ b/mypalletizer_260_moveit/scripts/sync_plan.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python2 +import time +import rospy +from sensor_msgs.msg import JointState + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + + +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) + # print("data_list:",data_list) + mc.send_radians(data_list, 80) + + +def listener(): + global mc + rospy.init_node("mypal_reciver", anonymous=True) + + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyPalletizer(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() diff --git a/mypalletizer_communication/CMakeLists.txt b/mypalletizer_communication/CMakeLists.txt new file mode 100644 index 0000000..c501f28 --- /dev/null +++ b/mypalletizer_communication/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mypalletizer_communication) +add_compile_options(-std=c++11) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs + genmsg + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files(FILES + MypalAngles.msg + MypalCoords.msg + MypalSetAngles.msg + MypalSetCoords.msg + MypalGripperStatus.msg + MypalPumpStatus.msg +) + +## Generate services in the 'srv' folder +add_service_files(FILES + GetAngles.srv + SetAngles.srv + GetCoords.srv + SetCoords.srv + GripperStatus.srv + PumpStatus.srv +) + +## Generate added messages and services +generate_messages(DEPENDENCIES std_msgs) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/Mypal_commuication.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/Mypal_commuication_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/mypal_services.py + scripts/mypal_topics.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_Mypal_commuication.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mypalletizer_communication/LICENSE b/mypalletizer_communication/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mypalletizer_communication/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mypalletizer_communication/launch/communication_jsnn.launch b/mypalletizer_communication/launch/communication_jsnn.launch new file mode 100644 index 0000000..5668bab --- /dev/null +++ b/mypalletizer_communication/launch/communication_jsnn.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mypalletizer_communication/launch/communication_seeed.launch b/mypalletizer_communication/launch/communication_seeed.launch new file mode 100644 index 0000000..f40df63 --- /dev/null +++ b/mypalletizer_communication/launch/communication_seeed.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mypalletizer_communication/launch/communication_service.launch b/mypalletizer_communication/launch/communication_service.launch new file mode 100644 index 0000000..92f77b5 --- /dev/null +++ b/mypalletizer_communication/launch/communication_service.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mypalletizer_communication/launch/communication_topic.launch b/mypalletizer_communication/launch/communication_topic.launch new file mode 100644 index 0000000..4ea191b --- /dev/null +++ b/mypalletizer_communication/launch/communication_topic.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/mypalletizer_communication/launch/communication_topic_pi.launch b/mypalletizer_communication/launch/communication_topic_pi.launch new file mode 100644 index 0000000..c436d28 --- /dev/null +++ b/mypalletizer_communication/launch/communication_topic_pi.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mypalletizer_communication/msg/MypalAngles.msg b/mypalletizer_communication/msg/MypalAngles.msg new file mode 100644 index 0000000..bba2181 --- /dev/null +++ b/mypalletizer_communication/msg/MypalAngles.msg @@ -0,0 +1,7 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +# float32 joint_5 +# float32 joint_6 diff --git a/mypalletizer_communication/msg/MypalCoords.msg b/mypalletizer_communication/msg/MypalCoords.msg new file mode 100644 index 0000000..f2e98b9 --- /dev/null +++ b/mypalletizer_communication/msg/MypalCoords.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 z +float32 rx +# float32 ry +# float32 rz \ No newline at end of file diff --git a/mypalletizer_communication/msg/MypalGripperStatus.msg b/mypalletizer_communication/msg/MypalGripperStatus.msg new file mode 100644 index 0000000..18d6277 --- /dev/null +++ b/mypalletizer_communication/msg/MypalGripperStatus.msg @@ -0,0 +1 @@ +bool Status \ No newline at end of file diff --git a/mypalletizer_communication/msg/MypalPumpStatus.msg b/mypalletizer_communication/msg/MypalPumpStatus.msg new file mode 100644 index 0000000..2373241 --- /dev/null +++ b/mypalletizer_communication/msg/MypalPumpStatus.msg @@ -0,0 +1,3 @@ +bool Status +int8 Pin1 +int8 Pin2 diff --git a/mypalletizer_communication/msg/MypalSetAngles.msg b/mypalletizer_communication/msg/MypalSetAngles.msg new file mode 100644 index 0000000..3580a2e --- /dev/null +++ b/mypalletizer_communication/msg/MypalSetAngles.msg @@ -0,0 +1,9 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +# float32 joint_5 +# float32 joint_6 + +int8 speed diff --git a/mypalletizer_communication/msg/MypalSetCoords.msg b/mypalletizer_communication/msg/MypalSetCoords.msg new file mode 100644 index 0000000..15c601f --- /dev/null +++ b/mypalletizer_communication/msg/MypalSetCoords.msg @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 rx +# float32 ry +# float32 rz + +int8 speed +int8 model diff --git a/mypalletizer_communication/package.xml b/mypalletizer_communication/package.xml new file mode 100644 index 0000000..a7c96fc --- /dev/null +++ b/mypalletizer_communication/package.xml @@ -0,0 +1,86 @@ + + + mypalletizer_communication + 0.1.0 + The mypalletizer_commuication package + + + + + zachary + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + rospy + std_msgs + message_generation + roscpp + rospy + actionlib + mycobot_description + + + + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + message_runtime + + + + + + + + diff --git a/mypalletizer_communication/scripts/mypal_services.py b/mypalletizer_communication/scripts/mypal_services.py new file mode 100755 index 0000000..5cc0a5f --- /dev/null +++ b/mypalletizer_communication/scripts/mypal_services.py @@ -0,0 +1,148 @@ +#!/usr/bin/env python2 +import time +import rospy +# from mycobot_communication.srv import * +from mypalletizer_communication.srv import * + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + +mc = None + + +def create_handle(): + global mc + rospy.init_node("mypal_services") + rospy.loginfo("start ...") + port = rospy.get_param("~port") + baud = rospy.get_param("~baud") + rospy.loginfo("%s,%s" % (port, baud)) + mc = MyPalletizer(port, baud) + + +def create_services(): + rospy.Service("set_joint_angles", SetAngles, set_angles) + rospy.Service("get_joint_angles", GetAngles, get_angles) + rospy.Service("set_joint_coords", SetCoords, set_coords) + rospy.Service("get_joint_coords", GetCoords, get_coords) + rospy.Service("switch_gripper_status", GripperStatus, switch_status) + rospy.Service("switch_pump_status", PumpStatus, toggle_pump) + rospy.loginfo("ready") + rospy.spin() + + +def set_angles(req): + angles = [ + req.joint_1, + req.joint_2, + req.joint_3, + req.joint_4, + # req.joint_5, + # req.joint_6, + ] + sp = req.speed + + if mc: + mc.send_angles(angles, sp) + + return SetAnglesResponse(True) + + +def get_angles(req): + if mc: + angles = mc.get_angles() + return GetAnglesResponse(*angles) + + +def set_coords(req): + coords = [ + req.x, + req.y, + req.z, + req.rx, + # req.ry, + # req.rz, + ] + sp = req.speed + mod = req.model + + if mc: + mc.send_coords(coords, sp, mod) + + return SetCoordsResponse(True) + + +def get_coords(req): + if mc: + coords = mc.get_coords() + return GetCoordsResponse(*coords) + + +def switch_status(req): + if mc: + if req.Status: + mc.set_gripper_state(0, 80) + else: + mc.set_gripper_state(1, 80) + + return GripperStatusResponse(True) + + +def toggle_pump(req): + if mc: + if req.Status: + mc.set_basic_output(req.Pin1, 0) + mc.set_basic_output(req.Pin2, 0) + else: + mc.set_basic_output(req.Pin1, 1) + mc.set_basic_output(req.Pin2, 1) + + return PumpStatusResponse(True) + + +robot_msg = """ +Mypalletizer Status +-------------------------------- +Joint Limit: + joint 1: -160 ~ +160 + joint 2: -0.87 ~ +100.01 + joint 3: -17.13 ~ +60 + joint 4: simple show + joint 5: -170 ~ +170 + +Connect Status: %s + +Servo Infomation: %s + +Servo Temperature: %s + +Atom Version: %s +""" + + +def output_robot_message(): + connect_status = False + servo_infomation = "unknown" + servo_temperature = "unknown" + atom_version = "unknown" + + if mc: + cn = mc.is_controller_connected() + if cn == 1: + connect_status = True + time.sleep(0.1) + si = mc.is_all_servo_enable() + if si == 1: + servo_infomation = "all connected" + + print( + robot_msg % (connect_status, servo_infomation, + servo_temperature, atom_version) + ) + + +if __name__ == "__main__": + # print(MyCobot.__dict__) + create_handle() + output_robot_message() + create_services() diff --git a/mypalletizer_communication/scripts/mypal_topics.py b/mypalletizer_communication/scripts/mypal_topics.py new file mode 100755 index 0000000..2ada1af --- /dev/null +++ b/mypalletizer_communication/scripts/mypal_topics.py @@ -0,0 +1,208 @@ +#!/usr/bin/env python2 +import time +import os +import sys +import signal +import threading + +import rospy +from pymycobot.mypalletizer import MyPalletizer + +from mypalletizer_communication import( + MypalAngles, + MypalCoords, + MypalSetAngles, + MypalSetCoords, + MypalGripperStatus, + MypalPumpStatus, +) + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MypalTopics(object): + def __init__(self): + super(MypalTopics, self).__init__() + + rospy.init_node("Mypal_topics") + rospy.loginfo("start ...") + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyPalletizer(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + pub = rospy.Publisher("Mypal/angles_real", + MypalAngles, queue_size=5) + ma = MypalAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + # ma.joint_5 = angles[4] + # ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + pub = rospy.Publisher("Mypal/coords_real", + MypalCoords, queue_size=5) + ma = MypalCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + # ma.ry = coords[4] + # ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + # data.joint_5, + # data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "Mypal/angles_goal", MypalSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + # angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + angles = [data.x, data.y, data.z, data.rx] + + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "Mypal/coords_goal", MypalSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "Mypal/gripper_status", MypalGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "Mypal/pump_status", MypalPumpStatus, callback=callback + ) + rospy.spin() + + +if __name__ == "__main__": + Watcher() + mc_topics = MypalTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mypalletizer_communication/scripts/mypal_topics_seeed.py b/mypalletizer_communication/scripts/mypal_topics_seeed.py new file mode 100644 index 0000000..2edfd28 --- /dev/null +++ b/mypalletizer_communication/scripts/mypal_topics_seeed.py @@ -0,0 +1,204 @@ +#!/usr/bin/env python2 +import time +import os +import sys +import signal +import threading + +import rospy + +from mypalletizer_communication import ( + MypalAngles, + MypalCoords, + MypalSetAngles, + MypalSetCoords, + MypalGripperStatus, + MypalPumpStatus, +) +from pymycobot.mypalletizer import MyPalletizer + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MypalTopics(object): + def __init__(self): + super(MypalTopics, self).__init__() + + rospy.init_node("Mypal_topics") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyPalletizer(port,baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + pub = rospy.Publisher("Mypal/angles_real", MypalAngles, queue_size=5) + ma = MypalAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + # ma.joint_5 = angles[4] + # ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + pub = rospy.Publisher("Mypal/coords_real", MypalCoords, queue_size=5) + ma = MypalCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + # ma.ry = coords[4] + # ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + # data.joint_5, + # data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "Mypal/angles_goal", MypalSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "Mypal/coords_goal", MypalSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "Mypal/gripper_status", MypalGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "Mypal/pump_status", MypalPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MypalTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mypalletizer_communication/scripts/test.py b/mypalletizer_communication/scripts/test.py new file mode 100644 index 0000000..e9cb605 --- /dev/null +++ b/mypalletizer_communication/scripts/test.py @@ -0,0 +1,7 @@ +from pymycobot.mypalletizer import MyPalletizer +mp = MyPalletizer("/dev/ttyUSB0", 115200) +n = mp.get_angles() +# while(1): +# print(mp.get_angles()) + # print(mp.get_radians()) +mp.send_angles([100,0,0,150],30) \ No newline at end of file diff --git a/mypalletizer_communication/srv/GetAngles.srv b/mypalletizer_communication/srv/GetAngles.srv new file mode 100644 index 0000000..dcf5f2a --- /dev/null +++ b/mypalletizer_communication/srv/GetAngles.srv @@ -0,0 +1,11 @@ + +--- +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +# float32 joint_5 +# float32 joint_6 + + diff --git a/mypalletizer_communication/srv/GetCoords.srv b/mypalletizer_communication/srv/GetCoords.srv new file mode 100644 index 0000000..aabe929 --- /dev/null +++ b/mypalletizer_communication/srv/GetCoords.srv @@ -0,0 +1,9 @@ + +--- + +float32 x +float32 y +float32 z +float32 rx +# float32 ry +# float32 rz \ No newline at end of file diff --git a/mypalletizer_communication/srv/GripperStatus.srv b/mypalletizer_communication/srv/GripperStatus.srv new file mode 100644 index 0000000..3887d75 --- /dev/null +++ b/mypalletizer_communication/srv/GripperStatus.srv @@ -0,0 +1,5 @@ +bool Status + +--- + +bool Flag \ No newline at end of file diff --git a/mypalletizer_communication/srv/PumpStatus.srv b/mypalletizer_communication/srv/PumpStatus.srv new file mode 100644 index 0000000..8bd4b53 --- /dev/null +++ b/mypalletizer_communication/srv/PumpStatus.srv @@ -0,0 +1,7 @@ +bool Status +int8 Pin1 +int8 Pin2 + +--- + +bool Flag \ No newline at end of file diff --git a/mypalletizer_communication/srv/SetAngles.srv b/mypalletizer_communication/srv/SetAngles.srv new file mode 100644 index 0000000..539dcc3 --- /dev/null +++ b/mypalletizer_communication/srv/SetAngles.srv @@ -0,0 +1,15 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +# float32 joint_5 +# float32 joint_6 + + + +int8 speed + +--- + +bool Flag \ No newline at end of file diff --git a/mypalletizer_communication/srv/SetCoords.srv b/mypalletizer_communication/srv/SetCoords.srv new file mode 100644 index 0000000..3989373 --- /dev/null +++ b/mypalletizer_communication/srv/SetCoords.srv @@ -0,0 +1,13 @@ +float32 x +float32 y +float32 z +float32 rx +# float32 ry +# float32 rz + +int8 speed +int8 model + +--- + +bool Flag \ No newline at end of file