From 78ed820dd57b7299ef04fc0c8cc6d111ea9203a7 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 16:10:53 +0800 Subject: [PATCH] fix bug --- mecharm/mecharm_pi/scripts/slider_control.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/mecharm/mecharm_pi/scripts/slider_control.py b/mecharm/mecharm_pi/scripts/slider_control.py index 34eb434..1e9352f 100644 --- a/mecharm/mecharm_pi/scripts/slider_control.py +++ b/mecharm/mecharm_pi/scripts/slider_control.py @@ -6,15 +6,15 @@ 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. + port: serial prot string. Defaults is '/dev/ttyAMA0' + baud: serial prot baudrate. Defaults is 1000000. """ import rospy from sensor_msgs.msg import JointState from pymycobot.mycobot import MyCobot -from pymycobot.mypalletizer import MyPalletizer + mc = None @@ -26,8 +26,7 @@ def callback(data): 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! 把joint3到joint4的角度删掉，因为它实际上不存在！ - # data_list[3] = data_list[4] + # print(data_list) mc.send_radians(data_list, 80) # time.sleep(0.5)