kenaug74/mycobot_ros
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Merge branch 'main' of https://github.com/elephantrobotics/myCobotROS into main

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zhangLijun 2021-03-22 14:05:04 +08:00
commit 78e95b9135
5 changed files with 28 additions and 12 deletions
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2
README.md
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@ -43,7 +43,7 @@ $ catkin_make
```bash
cd ~/catkin_ws/src/myCobotROS
python3 scripts/test.py
python scripts/test.py
```
## 2. Package Modules

2
READMEcn.md
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@ -42,7 +42,7 @@ $ catkin_make
```bash
cd ~/catkin_ws/src/myCobotROS
python3 scripts/test.py
python scripts/test.py
```
## 2. 模块

14
launch/control_slider.launch Normal file
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@ -0,0 +1,14 @@
<launch>
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
</node>
<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

2
package.xml
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@ -14,10 +14,12 @@
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>serial</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>serial</exec_depend>
<!-- The export tag contains other, unspecified, tags -->

20
scripts/test.py
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@ -1,11 +1,11 @@
import time, random, subprocess
from pymycobot.mycobot import MyCobot
# from pythonAPI.mycobot3 import MyCobot as MyCobot3
from pymycobot.common import Angle, Coord
from pymycobot.genre import Angle, Coord
if __name__ == '__main__':
port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
shell=True)
shell=True).decode()
mycobot = MyCobot(port)
# port = subprocess.run(['echo -n /dev/ttyUSB*'],
@ -17,9 +17,9 @@ if __name__ == '__main__':
color_name = ['red', 'green', 'blue']
color_code = ['ff0000', '00ff00', '0000ff']
print('::ser_color()')
print('::ser_led_color()')
i = random.randint(0, len(color_code) - 1)
mycobot.set_color(color_code[i])
mycobot.set_led_color(color_code[i])
print('==>set color {}\n'.format(color_name[i]))
time.sleep(0.5)
@ -27,18 +27,18 @@ if __name__ == '__main__':
print('==> degrees: {}\n'.format(mycobot.get_angles()))
time.sleep(0.5)
print('::get_angles_of_radian()')
print('==> radians: {}\n'.format(mycobot.get_angles_of_radian()))
print('::get_radians()')
print('==> radians: {}\n'.format(mycobot.get_radians()))
time.sleep(0.5)
print('::send_angles()')
mycobot.send_angles([0,0,0,0,0,0], 80)
print('==> set angles [0,0,0,0,0,0], speed 80\n')
print('Is moving: {}'.format(mycobot.is_moving()))
time.sleep(3)
print('::send_angles_by_radian')
mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
print('::send_radians')
mycobot.send_radians([1,1,1,1,1,1], 70)
print('==> set raidans [1,1,1,1,1,1], speed 70\n')
time.sleep(1.5)
@ -57,7 +57,7 @@ if __name__ == '__main__':
print('==> send coords [160,160,160,0,0,0], speed 70, mode 0\n')
time.sleep(3.0)
print(mycobot.is_in_position(coord_list))
print(mycobot.is_in_position(coord_list, 1))
time.sleep(1)
print('::send_coord()')