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@ -36,7 +36,7 @@ RUN pip install "pymycobot $PYMYCOBOT_VERSION" --user
# Build the project
WORKDIR /catkin_ws/src
ADD . myCobotROS
ADD . mycobot_ros
WORKDIR /catkin_ws
RUN catkin_make

8
README.md
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@ -109,13 +109,13 @@ python scripts/test.py
- launch ros and rviz
```
roslaunch mycobot_ros control_slider.launch
roslaunch mycobot_ros mycobot_slider.launch
```
- run python script
```
rosrun mycobot_ros control_slider.py
rosrun mycobot_ros slider_control.py
```
- **The model moves with the real manipulator**
@ -123,13 +123,13 @@ python scripts/test.py
- launch ros and rviz
```
roslanuch mycobot_ros mycobot.launch
roslanuch mycobot_ros mycobot_follow.launch
```
- run python script
```
rosrun mycobot_ros display.py
rosrun mycobot_ros follow_display.py
```
- **Open the keyboard controller**

107
READMEcn.md
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@ -1,107 +0,0 @@
# mycobot_ros
[![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)](README.md)
[English](README.md) | [中文](READMEcn.md)
![Demo](./Screenshot-1.png)
**注意**:
<!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
> 请确保顶部的 Atom 烧入 `Atom`，底部的 Basic 烧入 `Transponder`。烧录工具的下载地址: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
> 该包的测试环境：<br> &nbsp;&nbsp;&nbsp;&nbsp; ubuntu: 16.04LTS<br> &nbsp;&nbsp;&nbsp;&nbsp; ros version: 1.12.17
**如果你的`Atom` 是 2.3 或更早的, 或者 `pymycobot` 是 1.\*, 请查看分支 [before](https://github.com/elephantrobotics/myCobotRos/tree/before)**
ROS 下载地址：[http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation)
## 1. 安装
### 1.1 前提
要使用该包，请确保 [python api](https://github.com/elephantrobotics/pymycobot.git) 已正确安装。
```bash
pip install pymycobot --user
```
### 1.2 Ros 包的下载和安装
将该 ros 包安装到 Catkin 的 src 文件夹中。
```bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
```
### 1.3 你可以选择测试 Python API
```bash
cd ~/catkin_ws/src/mycobot_ros
python scripts/test.py
```
## 2. 模块
### 2.1 节点
- `display` 展示节点。 同步展示 myCobot 的姿态到仿真的模型。
- `control_slider` 通过滑动条控制 myCobot。
- `control_marker` 通过可交互的标记控制 myCobot。
### 2.2 主题
- `joint_states` - 控制和记录 myCobot 的状态.
```
Message_type: std_msgs/JointState
Data: position[float, float, float, float, float, float]
```
## 3. RViz 可视化
### 3.1 功能
- 可视化 -- `display.launch`: This function will display robot arm movement in realtime when you manually move mycobot.
- 控制 -- `control.launch`: This function will allow you use slider bar to control movement of the robot arm.
### 3.2 启动和运行
- 使用滑块控制
- 启动 ros 和 rviz
```
roslaunch mycobot_ros control_slider.launch
```
- 运行 python 脚本
```
rosrun mycobot_ros control_slider.py
```
- 仿真模型同步机械臂
- 启动 ros 和 rviz
```
roslanuch mycobot_ros mycobot.launch
```
- 运行 python 脚本
```
rosrun mycobot_ros display.py
```
## Q & A
**Q: error[101]**
**A**: 请确保的你的串口没有被占用，以及 Basic 和 Atom 烧入了正确的固件。