From 7bbf31622695059b7669cc81d9bd28bdd1517f96 Mon Sep 17 00:00:00 2001 From: weijian Date: Wed, 7 Dec 2022 16:42:36 +0800 Subject: [PATCH] add aikit_280pi color detect ros --- .../mycobot_280/config/ai_mycobot_pi.rviz | 226 ++++++++++++++++++ .../aikit_280_pi/launch/vision_pi.launch | 4 +- .../aikit_280_pi/scripts/aikit_color.py | 2 +- 3 files changed, 229 insertions(+), 3 deletions(-) create mode 100755 mycobot_280/mycobot_280/config/ai_mycobot_pi.rviz diff --git a/mycobot_280/mycobot_280/config/ai_mycobot_pi.rviz b/mycobot_280/mycobot_280/config/ai_mycobot_pi.rviz new file mode 100755 index 0000000..9340fbc --- /dev/null +++ b/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: + 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: + 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 diff --git a/mycobot_ai/aikit_280_pi/launch/vision_pi.launch b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch index f86c046..d434d35 100644 --- a/mycobot_ai/aikit_280_pi/launch/vision_pi.launch +++ b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch @@ -3,13 +3,13 @@ - + - + ["joint_states"] diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_color.py b/mycobot_ai/aikit_280_pi/scripts/aikit_color.py index 582e35a..60eb267 100644 --- a/mycobot_ai/aikit_280_pi/scripts/aikit_color.py +++ b/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