From 6fd7298cc77aa71ce9244b79919605bf1f0b0ede Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=BC=A0=E7=AB=8B=E5=86=9B?= Date: Wed, 12 May 2021 19:41:36 +0800 Subject: [PATCH] update README --- Dockerfile | 2 +- README.md | 8 ++-- READMEcn.md | 107 ---------------------------------------------------- 3 files changed, 5 insertions(+), 112 deletions(-) delete mode 100644 READMEcn.md diff --git a/Dockerfile b/Dockerfile index 008f54c..e389c86 100644 --- a/Dockerfile +++ b/Dockerfile @@ -36,7 +36,7 @@ RUN pip install "pymycobot $PYMYCOBOT_VERSION" --user # Build the project WORKDIR /catkin_ws/src -ADD . myCobotROS +ADD . mycobot_ros WORKDIR /catkin_ws RUN catkin_make diff --git a/README.md b/README.md index eebcdc0..c6e585d 100644 --- a/README.md +++ b/README.md @@ -109,13 +109,13 @@ python scripts/test.py - launch ros and rviz ``` - roslaunch mycobot_ros control_slider.launch + roslaunch mycobot_ros mycobot_slider.launch ``` - run python script ``` - rosrun mycobot_ros control_slider.py + rosrun mycobot_ros slider_control.py ``` - **The model moves with the real manipulator** @@ -123,13 +123,13 @@ python scripts/test.py - launch ros and rviz ``` - roslanuch mycobot_ros mycobot.launch + roslanuch mycobot_ros mycobot_follow.launch ``` - run python script ``` - rosrun mycobot_ros display.py + rosrun mycobot_ros follow_display.py ``` - **Open the keyboard controller** diff --git a/READMEcn.md b/READMEcn.md deleted file mode 100644 index 62d5f65..0000000 --- a/READMEcn.md +++ /dev/null @@ -1,107 +0,0 @@ -# mycobot_ros - -[![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)](README.md) - -[English](README.md) | [中文](READMEcn.md) - -![Demo](./Screenshot-1.png) - -**注意**: - - - -> 请确保顶部的 Atom 烧入 `Atom`，底部的 Basic 烧入 `Transponder`。烧录工具的下载地址: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)
-> 该包的测试环境：
     ubuntu: 16.04LTS
     ros version: 1.12.17 - -**如果你的`Atom` 是 2.3 或更早的, 或者 `pymycobot` 是 1.\*, 请查看分支 [before](https://github.com/elephantrobotics/myCobotRos/tree/before)** - -ROS 下载地址：[http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation) - -## 1. 安装 - -### 1.1 前提 - -要使用该包，请确保 [python api](https://github.com/elephantrobotics/pymycobot.git) 已正确安装。 - -```bash -pip install pymycobot --user -``` - -### 1.2 Ros 包的下载和安装 - -将该 ros 包安装到 Catkin 的 src 文件夹中。 - -```bash -$ 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。