add aikit_280pi color detect ros

mycobot_280/mycobot_280/config/ai_mycobot_pi.rviz

@@ -0,0 +1,226 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /Marker1
+      Splitter Ratio: 0.5
+    Tree Height: 582
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+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: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed 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
+        env:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        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
+        env:
+          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 Alpha: 1
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        joint1:
+          env:
+            {}
+          joint2:
+            joint3:
+              joint4:
+                joint5:
+                  joint6:
+                    joint6_flange:
+                      {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: cube
+      Name: Marker
+      Namespaces:
+        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
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - 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: 1.2028908729553223
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.44039833545684814
+      Target Frame: <Fixed Frame>
+      Yaw: 0.43038973212242126
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 888
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002d5fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002d5000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002d5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002d5000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069f0000003efc0100000002fb0000000800540069006d006501000000000000069f000003d000fffffffb0000000800540069006d0065010000000000000450000000000000000000000367000002d500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1695
+  X: 222
+  Y: 28

mycobot_ai/aikit_280_pi/launch/vision_pi.launch

@@ -3,13 +3,13 @@
 	<arg name="baud" default="1000000" />
 
 	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/ai_mycobot_pi.rviz" />
 	<!-- <arg name="gui" default="false" /> -->
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
 		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
 	</node>
 

mycobot_ai/aikit_280_pi/scripts/aikit_color.py

@@ -101,7 +101,7 @@ class Object_detect(Movement):
         self.pub = rospy.Publisher('/cube', Marker, queue_size=1)
         # init a Marker
         self.marker = Marker()
-        self.marker.header.frame_id = "/joint1"
+        self.marker.header.frame_id = "joint1"
         self.marker.ns = "cube"
         self.marker.type = self.marker.CUBE
         self.marker.action = self.marker.ADD