mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
mycobot280jn (#59)
support myPalletizer260m5, only support python2 right now
This commit is contained in:
kehu
GitHub
parent
b4203056a8
commit
7d876440c9
76 changed files with 5379 additions and 296047 deletions
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@ -24,8 +24,8 @@ def listener():
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global mc
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rospy.init_node("mycobot_reciver", anonymous=True)
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port = rospy.get_param("~port", "/dev/ttyUSB0")
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baud = rospy.get_param("~baud", 115200)
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port = rospy.get_param("~port", "/dev/ttyTHS1")
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baud = rospy.get_param("~baud", 1000000)
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print(port, baud)
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mc = MyCobot(port, baud)
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40
mycobot_280jn/CMakeLists.txt
Normal file
40
mycobot_280jn/CMakeLists.txt
Normal file
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@ -0,0 +1,40 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(mycobot_280jn)
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add_compile_options(-std=c++11)
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## Find catkin and any catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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actionlib
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image_transport
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cv_bridge
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)
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## Declare a catkin package
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catkin_package(
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CATKIN_DEPENDS std_msgs actionlib
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)
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## Build talker and listener
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include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
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catkin_install_python(PROGRAMS
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scripts/follow_display.py
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scripts/slider_control.py
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scripts/teleop_keyboard.py
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scripts/listen_real.py
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scripts/listen_real_of_topic.py
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scripts/detect_marker.py
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scripts/following_marker.py
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scripts/follow_and_pump.py
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scripts/simple_gui.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN "setup_assistant.launch" EXCLUDE)
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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25
mycobot_280jn/LICENSE
Normal file
25
mycobot_280jn/LICENSE
Normal file
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@ -0,0 +1,25 @@
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BSD 2-Clause License
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Copyright (c) 2020, Elephant Robotics
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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203
mycobot_280jn/config/mycobot.rviz
Normal file
203
mycobot_280jn/config/mycobot.rviz
Normal file
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@ -0,0 +1,203 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 775
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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joint1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6_flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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joint1:
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Value: true
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joint2:
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Value: true
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joint3:
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Value: true
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joint4:
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Value: true
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joint5:
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Value: true
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joint6:
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Value: true
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joint6_flange:
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Value: true
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Marker Scale: 0.300000012
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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joint1:
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joint2:
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joint3:
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joint4:
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joint5:
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joint6:
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joint6_flange:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: joint1
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.20289087
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.0706475973
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Y: -0.0814988762
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Z: 0.107583851
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.440398335
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.430389732
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1056
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1855
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X: 65
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Y: 24
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216
mycobot_280jn/config/mycobot_with_marker.rviz
Normal file
216
mycobot_280jn/config/mycobot_with_marker.rviz
Normal file
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@ -0,0 +1,216 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /TF1
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- /Marker1
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- /Marker1/Namespaces1
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Splitter Ratio: 0.5
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Tree Height: 775
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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joint1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6_flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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basic_shapes:
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Value: true
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joint1:
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Value: true
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joint2:
|
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Value: true
|
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joint3:
|
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Value: true
|
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joint4:
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Value: true
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joint5:
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Value: true
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joint6:
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Value: true
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joint6_flange:
|
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Value: true
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Marker Scale: 0.300000012
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Name: TF
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Show Arrows: true
|
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Show Axes: true
|
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Show Names: true
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Tree:
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joint1:
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joint2:
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joint3:
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joint4:
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joint5:
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joint6:
|
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joint6_flange:
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basic_shapes:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /visualization_marker
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Name: Marker
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Namespaces:
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basic_cube: true
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Queue Size: 100
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Value: true
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||||
Enabled: true
|
||||
Global Options:
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Background Color: 48; 48; 48
|
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Default Light: true
|
||||
Fixed Frame: joint1
|
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Frame Rate: 30
|
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Name: root
|
||||
Tools:
|
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- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- 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: 2.11990476
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||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
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||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.0706475973
|
||||
Y: -0.0814988762
|
||||
Z: 0.107583851
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.375398338
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.235389769
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||||
Saved: ~
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||||
Window Geometry:
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Displays:
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collapsed: false
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||||
Height: 1056
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||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1855
|
||||
X: 65
|
||||
Y: 24
|
||||
16
mycobot_280jn/launch/detect_marker.launch
Normal file
16
mycobot_280jn/launch/detect_marker.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_with_marker.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<arg name="num" default="0" />
|
||||
|
||||
<include file="$(find mycobot_280jn)/launch/slider_control.launch">
|
||||
<arg name="model" value="$(arg model)" />
|
||||
<arg name="rvizconfig" value="$(arg rvizconfig)" />
|
||||
<arg name="gui" value="$(arg gui)" />
|
||||
</include>
|
||||
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
|
||||
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
|
||||
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
|
||||
</launch>
|
||||
29
mycobot_280jn/launch/detect_marker_with_topic.launch
Normal file
29
mycobot_280jn/launch/detect_marker_with_topic.launch
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyTHS1" />
|
||||
<arg name="baud" default="1000000" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_with_marker.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<arg name="num" default="0" />
|
||||
|
||||
<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="robot_state_publisher" />
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<!-- mycobot-topics -->
|
||||
<include file="$(find mycobot_communication)/launch/communication_topic.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<!-- listen and pub the real angles -->
|
||||
<node name="real_listener" pkg="mycobot_280jn" type="listen_real_of_topic.py" />
|
||||
<!-- vision node -->
|
||||
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
|
||||
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
|
||||
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
|
||||
</launch>
|
||||
11
mycobot_280jn/launch/mycobot_follow.launch
Normal file
11
mycobot_280jn/launch/mycobot_follow.launch
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
|
||||
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
|
||||
</node>
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
22
mycobot_280jn/launch/simple_gui.launch
Normal file
22
mycobot_280jn/launch/simple_gui.launch
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyTHS1" />
|
||||
<arg name="baud" default="1000000" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find mycobot_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
|
||||
<node name="simple_gui" pkg="mycobot_280jn" type="simple_gui.py" />
|
||||
</launch>
|
||||
24
mycobot_280jn/launch/slider_control.launch
Normal file
24
mycobot_280jn/launch/slider_control.launch
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyTHS1" />
|
||||
<arg name="baud" default="1000000" /> -->
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280jn" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
21
mycobot_280jn/launch/teleop_keyboard.launch
Normal file
21
mycobot_280jn/launch/teleop_keyboard.launch
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyTHS1" />
|
||||
<arg name="baud" default="1000000" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find mycobot_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
|
||||
</launch>
|
||||
16
mycobot_280jn/launch/test.launch
Normal file
16
mycobot_280jn/launch/test.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<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="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
47
mycobot_280jn/package.xml
Normal file
47
mycobot_280jn/package.xml
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>mycobot_280jn</name>
|
||||
<version>0.3.0</version>
|
||||
<description>The mycobot 280jn package</description>
|
||||
|
||||
<author email="lijun.zhang@elephantrobotics.com">ZhangLijun</author>
|
||||
<maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">https://github.com/elephantrobotics/mycobot_ros</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>actionlib</build_depend>
|
||||
<build_depend>mycobot_description</build_depend>
|
||||
<build_depend>mycobot_communication</build_depend>
|
||||
|
||||
<build_export_depend>mycobot_communication</build_export_depend>
|
||||
<build_export_depend>mycobot_description</build_export_depend>
|
||||
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>actionlib</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>joy</exec_depend>
|
||||
<exec_depend>rviz</exec_depend>
|
||||
<exec_depend>controller_manager</exec_depend>
|
||||
<exec_depend>python-tk</exec_depend>
|
||||
<exec_depend>mycobot_description</exec_depend>
|
||||
<exec_depend>mycobot_communication</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
123
mycobot_280jn/scripts/detect_marker.py
Normal file
123
mycobot_280jn/scripts/detect_marker.py
Normal file
|
|
@ -0,0 +1,123 @@
|
|||
#!/usr/bin/env python
|
||||
import rospy
|
||||
import cv2 as cv
|
||||
import numpy as np
|
||||
from cv_bridge import CvBridge, CvBridgeError
|
||||
from sensor_msgs.msg import Image
|
||||
import tf
|
||||
from tf.broadcaster import TransformBroadcaster
|
||||
import tf_conversions
|
||||
from mycobot_communication.srv import (
|
||||
GetCoords,
|
||||
SetCoords,
|
||||
GetAngles,
|
||||
SetAngles,
|
||||
GripperStatus,
|
||||
)
|
||||
|
||||
|
||||
class ImageConverter:
|
||||
def __init__(self):
|
||||
self.br = TransformBroadcaster()
|
||||
self.bridge = CvBridge()
|
||||
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
|
||||
self.aruo_params = cv.aruco.DetectorParameters_create()
|
||||
calibrationParams = cv.FileStorage(
|
||||
"calibrationFileName.xml", cv.FILE_STORAGE_READ
|
||||
)
|
||||
self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
|
||||
self.camera_matrix = None
|
||||
# subscriber, listen wether has img come in.
|
||||
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
|
||||
|
||||
def callback(self, data):
|
||||
"""Callback function.
|
||||
|
||||
Process image with OpenCV, detect Mark to get the pose. Then acccording the
|
||||
pose to transforming.
|
||||
"""
|
||||
try:
|
||||
# trans `rgb` to `gbr` for opencv.
|
||||
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
|
||||
except CvBridgeError as e:
|
||||
print(e)
|
||||
size = cv_image.shape
|
||||
focal_length = size[1]
|
||||
center = [size[1] / 2, size[0] / 2]
|
||||
if self.camera_matrix is None:
|
||||
# calc the camera matrix, if don't have.
|
||||
self.camera_matrix = np.array(
|
||||
[
|
||||
[focal_length, 0, center[0]],
|
||||
[0, focal_length, center[1]],
|
||||
[0, 0, 1],
|
||||
],
|
||||
dtype=np.float32,
|
||||
)
|
||||
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
|
||||
# detect aruco marker.
|
||||
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
|
||||
corners, ids = ret[0], ret[1]
|
||||
# process marker data.
|
||||
if len(corners) > 0:
|
||||
if ids is not None:
|
||||
# print('corners:', corners, 'ids:', ids)
|
||||
|
||||
# detect marker pose.
|
||||
# argument:
|
||||
# marker corners
|
||||
# marker size (meter)
|
||||
ret = cv.aruco.estimatePoseSingleMarkers(
|
||||
corners, 0.05, self.camera_matrix, self.dist_coeffs
|
||||
)
|
||||
(rvec, tvec) = (ret[0], ret[1])
|
||||
(rvec - tvec).any()
|
||||
|
||||
print("rvec:", rvec, "tvec:", tvec)
|
||||
|
||||
# just select first one detected marker.
|
||||
for i in range(rvec.shape[0]):
|
||||
cv.aruco.drawDetectedMarkers(cv_image, corners)
|
||||
cv.aruco.drawAxis(
|
||||
cv_image,
|
||||
self.camera_matrix,
|
||||
self.dist_coeffs,
|
||||
rvec[i, :, :],
|
||||
tvec[i, :, :],
|
||||
0.03,
|
||||
)
|
||||
|
||||
xyz = tvec[0, 0, :]
|
||||
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
|
||||
|
||||
# get quaternion for ros.
|
||||
euler = rvec[0, 0, :]
|
||||
tf_change = tf.transformations.quaternion_from_euler(
|
||||
euler[0], euler[1], euler[2]
|
||||
)
|
||||
print("tf_change:", tf_change)
|
||||
|
||||
# trans pose according [joint1]
|
||||
self.br.sendTransform(
|
||||
xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
|
||||
)
|
||||
|
||||
# [x, y, z, -172, 3, -46.8]
|
||||
cv.imshow("Image", cv_image)
|
||||
|
||||
cv.waitKey(3)
|
||||
try:
|
||||
pass
|
||||
except CvBridgeError as e:
|
||||
print(e)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
rospy.init_node("detect_marker")
|
||||
rospy.loginfo("Starting cv_bridge_test node")
|
||||
ImageConverter()
|
||||
rospy.spin()
|
||||
except KeyboardInterrupt:
|
||||
print("Shutting down cv_bridge_test node.")
|
||||
cv.destroyAllWindows()
|
||||
190
mycobot_280jn/scripts/follow_and_pump.py
Normal file
190
mycobot_280jn/scripts/follow_and_pump.py
Normal file
|
|
@ -0,0 +1,190 @@
|
|||
#!/usr/bin/env python2
|
||||
# coding:utf-8
|
||||
import rospy
|
||||
from visualization_msgs.msg import Marker
|
||||
import time
|
||||
import os
|
||||
|
||||
# 与 mycobot 通信的消息类型
|
||||
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
|
||||
|
||||
|
||||
rospy.init_node("gipper_subscriber", anonymous=True)
|
||||
|
||||
# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
|
||||
angle_pub = rospy.Publisher("mycobot/angles_goal",
|
||||
MycobotSetAngles, queue_size=5)
|
||||
coord_pub = rospy.Publisher("mycobot/coords_goal",
|
||||
MycobotSetCoords, queue_size=5)
|
||||
# Judging equipment: ttyUSB* is M5；ttyACM* is wio
|
||||
robot = os.popen("ls /dev/ttyUSB*").readline()
|
||||
|
||||
if "dev" in robot:
|
||||
Pin = [2, 5]
|
||||
else:
|
||||
Pin = [20, 21]
|
||||
|
||||
pump_pub = rospy.Publisher("mycobot/pump_status",
|
||||
MycobotPumpStatus, queue_size=5)
|
||||
|
||||
# 实例化消息对象
|
||||
angles = MycobotSetAngles()
|
||||
coords = MycobotSetCoords()
|
||||
pump = MycobotPumpStatus()
|
||||
|
||||
# 与 mycobot 真实位置的偏差值
|
||||
x_offset = -20
|
||||
y_offset = 20
|
||||
z_offset = 110
|
||||
|
||||
# 通过该变量限制，抓取行为只做一次
|
||||
flag = False
|
||||
|
||||
# 为了后面比较二维码是否移动
|
||||
temp_x = temp_y = temp_z = 0.0
|
||||
|
||||
temp_time = time.time()
|
||||
|
||||
|
||||
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
|
||||
"""发布坐标"""
|
||||
coords.x = x
|
||||
coords.y = y
|
||||
coords.z = z
|
||||
coords.rx = rx
|
||||
coords.ry = ry
|
||||
coords.rz = rz
|
||||
coords.speed = 70
|
||||
coords.model = m
|
||||
# print(coords)
|
||||
coord_pub.publish(coords)
|
||||
|
||||
|
||||
def pub_angles(a, b, c, d, e, f, sp):
|
||||
"""发布角度"""
|
||||
angles.joint_1 = float(a)
|
||||
angles.joint_2 = float(b)
|
||||
angles.joint_3 = float(c)
|
||||
angles.joint_4 = float(d)
|
||||
angles.joint_5 = float(e)
|
||||
angles.joint_6 = float(f)
|
||||
angles.speed = sp
|
||||
angle_pub.publish(angles)
|
||||
|
||||
|
||||
def pub_pump(flag, Pin):
|
||||
"""发布夹爪状态"""
|
||||
pump.Status = flag
|
||||
pump.Pin1 = Pin[0]
|
||||
pump.Pin2 = Pin[1]
|
||||
pump_pub.publish(pump)
|
||||
|
||||
|
||||
def target_is_moving(x, y, z):
|
||||
"""判断目标是否移动"""
|
||||
count = 0
|
||||
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
|
||||
print(o, n)
|
||||
if abs(o - n) < 2:
|
||||
count += 1
|
||||
print(count)
|
||||
if count == 3:
|
||||
return False
|
||||
return True
|
||||
|
||||
|
||||
def grippercallback(data):
|
||||
"""回调函数"""
|
||||
global flag, temp_x, temp_y, temp_z
|
||||
# rospy.loginfo('gripper_subscriber get date :%s', data)
|
||||
if flag:
|
||||
return
|
||||
|
||||
# 解析出坐标值
|
||||
# pump length: 88mm
|
||||
x = float(format(data.pose.position.x * 1000, ".2f"))
|
||||
y = float(format(data.pose.position.y * 1000, ".2f"))
|
||||
z = float(format(data.pose.position.z * 1000, ".2f"))
|
||||
|
||||
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
|
||||
if (
|
||||
time.time() - temp_time < 30
|
||||
or (temp_x == temp_y == temp_z == 0.0)
|
||||
or target_is_moving(x - x_offset, y - y_offset, z)
|
||||
):
|
||||
|
||||
x -= x_offset
|
||||
y -= y_offset
|
||||
pub_coords(x - 20, y, 280)
|
||||
time.sleep(0.1)
|
||||
|
||||
temp_x, temp_y, temp_z = x, y, z
|
||||
return
|
||||
else: # 表示目标处于静止状态，可以尝试抓取
|
||||
|
||||
print(x, y, z)
|
||||
|
||||
# detect heigth + pump height + limit height + offset
|
||||
x += x_offset
|
||||
y += y_offset
|
||||
z = z + 88 + z_offset
|
||||
|
||||
pub_coords(x, y, z)
|
||||
time.sleep(2.5)
|
||||
|
||||
# down
|
||||
for i in range(1, 17):
|
||||
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
|
||||
time.sleep(0.1)
|
||||
|
||||
time.sleep(2)
|
||||
|
||||
pub_pump(True, Pin)
|
||||
# pump on
|
||||
|
||||
pub_coords(x, y, z + 20, -165)
|
||||
time.sleep(1.5)
|
||||
|
||||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||||
time.sleep(1.5)
|
||||
|
||||
put_z = 140
|
||||
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
|
||||
time.sleep(1.5)
|
||||
|
||||
for i in range(1, 8):
|
||||
pub_coords(39.4, -174.7, put_z - i * 5, -
|
||||
177.13, -4.13, -152.59, 15, 2)
|
||||
time.sleep(0.1)
|
||||
|
||||
pub_pump(False, Pin)
|
||||
|
||||
time.sleep(0.5)
|
||||
|
||||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||||
time.sleep(1.5)
|
||||
|
||||
# finally
|
||||
flag = True
|
||||
|
||||
|
||||
def main():
|
||||
for _ in range(10):
|
||||
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
|
||||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||||
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
|
||||
time.sleep(0.5)
|
||||
|
||||
pub_pump(False, Pin)
|
||||
# time.sleep(2.5)
|
||||
|
||||
# mark 信息的订阅者
|
||||
rospy.Subscriber("visualization_marker", Marker,
|
||||
grippercallback, queue_size=1)
|
||||
|
||||
print("gripper test")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
103
mycobot_280jn/scripts/follow_display.py
Normal file
103
mycobot_280jn/scripts/follow_display.py
Normal file
|
|
@ -0,0 +1,103 @@
|
|||
#!/usr/bin/env python2
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("display", anonymous=True)
|
||||
|
||||
print("Try connect real mycobot...")
|
||||
port = rospy.get_param("~port", "/dev/ttyTHS1")
|
||||
baud = rospy.get_param("~baud", 1000000)
|
||||
print("port: {}, baud: {}\n".format(port, baud))
|
||||
try:
|
||||
mycobot = MyCobot(port, baud)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print(
|
||||
"""\
|
||||
\rTry connect mycobot failed!
|
||||
\rPlease check wether connected with mycobot.
|
||||
\rPlease chckt wether the port or baud is right.
|
||||
"""
|
||||
)
|
||||
exit(1)
|
||||
mycobot.release_all_servos()
|
||||
time.sleep(0.1)
|
||||
print("Rlease all servos over.\n")
|
||||
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/joint1"
|
||||
marker_.ns = "my_namespace"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
angles = mycobot.get_radians()
|
||||
data_list = []
|
||||
for index, value in enumerate(angles):
|
||||
data_list.append(value)
|
||||
|
||||
# rospy.loginfo('{}'.format(data_list))
|
||||
joint_state_send.position = data_list
|
||||
|
||||
pub.publish(joint_state_send)
|
||||
|
||||
coords = mycobot.get_coords()
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = rospy.Time.now()
|
||||
marker_.type = marker_.SPHERE
|
||||
marker_.action = marker_.ADD
|
||||
marker_.scale.x = 0.04
|
||||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
# print(coords)
|
||||
if not coords:
|
||||
coords = [0, 0, 0, 0, 0, 0]
|
||||
rospy.loginfo("error [101]: can not get coord values")
|
||||
|
||||
marker_.pose.position.x = coords[1] / 1000 * -1
|
||||
marker_.pose.position.y = coords[0] / 1000
|
||||
marker_.pose.position.z = coords[2] / 1000
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.g = 1.0
|
||||
pub_marker.publish(marker_)
|
||||
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
64
mycobot_280jn/scripts/following_marker.py
Normal file
64
mycobot_280jn/scripts/following_marker.py
Normal file
|
|
@ -0,0 +1,64 @@
|
|||
#!/usr/bin/env python2
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
import tf
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("following_marker", anonymous=True)
|
||||
|
||||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
|
||||
rate = rospy.Rate(20)
|
||||
|
||||
listener = tf.TransformListener()
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/joint1"
|
||||
marker_.ns = "basic_cube"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
now = rospy.Time.now() - rospy.Duration(0.1)
|
||||
|
||||
try:
|
||||
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
continue
|
||||
|
||||
print(type(trans), trans)
|
||||
print(type(rot), rot)
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = now
|
||||
marker_.type = marker_.CUBE
|
||||
marker_.action = marker_.ADD
|
||||
marker_.scale.x = 0.04
|
||||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
marker_.pose.position.x = trans[0]
|
||||
marker_.pose.position.y = trans[1]
|
||||
marker_.pose.position.z = trans[2]
|
||||
marker_.pose.orientation.x = rot[0]
|
||||
marker_.pose.orientation.y = rot[1]
|
||||
marker_.pose.orientation.z = rot[2]
|
||||
marker_.pose.orientation.w = rot[3]
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.g = 1.0
|
||||
pub_marker.publish(marker_)
|
||||
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
65
mycobot_280jn/scripts/listen_real.py
Normal file
65
mycobot_280jn/scripts/listen_real.py
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
#!/usr/bin/env python2
|
||||
# license removed for brevity
|
||||
import time
|
||||
import math
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from mycobot_communication.srv import GetAngles
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener", anonymous=True)
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
# waiting util server `get_joint_angles` enable.
|
||||
rospy.loginfo("wait service")
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
func = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
|
||||
rospy.loginfo("start loop ...")
|
||||
while not rospy.is_shutdown():
|
||||
# get real angles from server.
|
||||
res = func()
|
||||
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
|
||||
continue
|
||||
radians_list = [
|
||||
res.joint_1 * (math.pi / 180),
|
||||
res.joint_2 * (math.pi / 180),
|
||||
res.joint_3 * (math.pi / 180),
|
||||
res.joint_4 * (math.pi / 180),
|
||||
res.joint_5 * (math.pi / 180),
|
||||
res.joint_6 * (math.pi / 180),
|
||||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
# publish angles.
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
joint_state_send.position = radians_list
|
||||
pub.publish(joint_state_send)
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
63
mycobot_280jn/scripts/listen_real_of_topic.py
Normal file
63
mycobot_280jn/scripts/listen_real_of_topic.py
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
#!/usr/bin/env python2
|
||||
import math
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from mycobot_communication.msg import MycobotAngles
|
||||
|
||||
|
||||
class Listener(object):
|
||||
def __init__(self):
|
||||
super(Listener, self).__init__()
|
||||
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener_1", anonymous=True)
|
||||
# init publisher.
|
||||
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
# init subscriber.
|
||||
self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback)
|
||||
rospy.spin()
|
||||
|
||||
def callback(self, data):
|
||||
"""`mycobot/angles_real` subscriber callback method.
|
||||
|
||||
Args:
|
||||
data (MycobotAngles): callback argument.
|
||||
"""
|
||||
# ini publisher object.
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
# process callback data.
|
||||
radians_list = [
|
||||
data.joint_1 * (math.pi / 180),
|
||||
data.joint_2 * (math.pi / 180),
|
||||
data.joint_3 * (math.pi / 180),
|
||||
data.joint_4 * (math.pi / 180),
|
||||
data.joint_5 * (math.pi / 180),
|
||||
data.joint_6 * (math.pi / 180),
|
||||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
joint_state_send.position = radians_list
|
||||
self.pub.publish(joint_state_send)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
Listener()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
474
mycobot_280jn/scripts/simple_gui.py
Normal file
474
mycobot_280jn/scripts/simple_gui.py
Normal file
|
|
@ -0,0 +1,474 @@
|
|||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import Tkinter as tk
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
import time
|
||||
from rospy import ServiceException
|
||||
|
||||
|
||||
class Window:
|
||||
def __init__(self, handle):
|
||||
self.win = handle
|
||||
self.win.resizable(0, 0) # 固定窗口大小
|
||||
|
||||
self.model = 0
|
||||
self.speed = rospy.get_param("~speed", 50)
|
||||
|
||||
# 设置默认速度
|
||||
self.speed_d = tk.StringVar()
|
||||
self.speed_d.set(str(self.speed))
|
||||
# print(self.speed)
|
||||
self.connect_ser()
|
||||
|
||||
# 获取机械臂数据
|
||||
self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model]
|
||||
self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model]
|
||||
self.get_date()
|
||||
|
||||
# get screen width and height
|
||||
self.ws = self.win.winfo_screenwidth() # width of the screen
|
||||
self.hs = self.win.winfo_screenheight() # height of the screen
|
||||
# calculate x and y coordinates for the Tk root window
|
||||
x = (self.ws / 2) - 190
|
||||
y = (self.hs / 2) - 250
|
||||
self.win.geometry("430x370+{}+{}".format(x, y))
|
||||
# 布局
|
||||
self.set_layout()
|
||||
# 输入部分
|
||||
self.need_input()
|
||||
# 展示部分
|
||||
self.show_init()
|
||||
|
||||
# joint 设置按钮
|
||||
tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# coordination 设置按钮
|
||||
tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
|
||||
row=6, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# 夹爪开关按钮
|
||||
tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid(
|
||||
row=1, column=0, sticky="w", padx=3, pady=50
|
||||
)
|
||||
tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
|
||||
row=1, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
def connect_ser(self):
|
||||
rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
|
||||
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
rospy.wait_for_service("set_joint_angles")
|
||||
rospy.wait_for_service("get_joint_coords")
|
||||
rospy.wait_for_service("set_joint_coords")
|
||||
rospy.wait_for_service("switch_gripper_status")
|
||||
try:
|
||||
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
|
||||
self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
|
||||
self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
|
||||
self.switch_gripper = rospy.ServiceProxy(
|
||||
"switch_gripper_status", GripperStatus
|
||||
)
|
||||
except:
|
||||
print("start error ...")
|
||||
exit(1)
|
||||
|
||||
print("Connect service success.")
|
||||
|
||||
def set_layout(self):
|
||||
self.frmLT = tk.Frame(width=200, height=200)
|
||||
self.frmLC = tk.Frame(width=200, height=200)
|
||||
self.frmLB = tk.Frame(width=200, height=200)
|
||||
self.frmRT = tk.Frame(width=200, height=200)
|
||||
self.frmLT.grid(row=0, column=0, padx=1, pady=3)
|
||||
self.frmLC.grid(row=1, column=0, padx=1, pady=3)
|
||||
self.frmLB.grid(row=1, column=1, padx=2, pady=3)
|
||||
self.frmRT.grid(row=0, column=1, padx=2, pady=3)
|
||||
|
||||
def need_input(self):
|
||||
# 输入提示
|
||||
tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # 第二行
|
||||
tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
|
||||
tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
|
||||
tk.Label(self.frmLT, text="Joint 5 ").grid(row=4)
|
||||
tk.Label(self.frmLT, text="Joint 6 ").grid(row=5)
|
||||
|
||||
tk.Label(self.frmRT, text=" x ").grid(row=0)
|
||||
tk.Label(self.frmRT, text=" y ").grid(row=1) # 第二行
|
||||
tk.Label(self.frmRT, text=" z ").grid(row=2)
|
||||
tk.Label(self.frmRT, text=" rx ").grid(row=3)
|
||||
tk.Label(self.frmRT, text=" ry ").grid(row=4)
|
||||
tk.Label(self.frmRT, text=" rz ").grid(row=5)
|
||||
|
||||
# 设置输入框的默认值
|
||||
self.j1_default = tk.StringVar()
|
||||
self.j1_default.set(self.res_angles[0])
|
||||
self.j2_default = tk.StringVar()
|
||||
self.j2_default.set(self.res_angles[1])
|
||||
self.j3_default = tk.StringVar()
|
||||
self.j3_default.set(self.res_angles[2])
|
||||
self.j4_default = tk.StringVar()
|
||||
self.j4_default.set(self.res_angles[3])
|
||||
self.j5_default = tk.StringVar()
|
||||
self.j5_default.set(self.res_angles[4])
|
||||
self.j6_default = tk.StringVar()
|
||||
self.j6_default.set(self.res_angles[5])
|
||||
|
||||
self.x_default = tk.StringVar()
|
||||
self.x_default.set(self.record_coords[0])
|
||||
self.y_default = tk.StringVar()
|
||||
self.y_default.set(self.record_coords[1])
|
||||
self.z_default = tk.StringVar()
|
||||
self.z_default.set(self.record_coords[2])
|
||||
self.rx_default = tk.StringVar()
|
||||
self.rx_default.set(self.record_coords[3])
|
||||
self.ry_default = tk.StringVar()
|
||||
self.ry_default.set(self.record_coords[4])
|
||||
self.rz_default = tk.StringVar()
|
||||
self.rz_default.set(self.record_coords[5])
|
||||
|
||||
# joint 输入框
|
||||
self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
|
||||
self.J_1.grid(row=0, column=1, pady=3)
|
||||
self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default)
|
||||
self.J_2.grid(row=1, column=1, pady=3)
|
||||
self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
|
||||
self.J_3.grid(row=2, column=1, pady=3)
|
||||
self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
|
||||
self.J_4.grid(row=3, column=1, pady=3)
|
||||
self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default)
|
||||
self.J_5.grid(row=4, column=1, pady=3)
|
||||
self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default)
|
||||
self.J_6.grid(row=5, column=1, pady=3)
|
||||
|
||||
# coord 输入框
|
||||
self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
|
||||
self.x.grid(row=0, column=1, pady=3, padx=0)
|
||||
self.y = tk.Entry(self.frmRT, textvariable=self.y_default)
|
||||
self.y.grid(row=1, column=1, pady=3)
|
||||
self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
|
||||
self.z.grid(row=2, column=1, pady=3)
|
||||
self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
|
||||
self.rx.grid(row=3, column=1, pady=3)
|
||||
self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default)
|
||||
self.ry.grid(row=4, column=1, pady=3)
|
||||
self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default)
|
||||
self.rz.grid(row=5, column=1, pady=3)
|
||||
|
||||
# 所有输入框，用于拿输入的数据
|
||||
self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6]
|
||||
self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]
|
||||
|
||||
# 速度输入框
|
||||
tk.Label(
|
||||
self.frmLB,
|
||||
text="speed",
|
||||
).grid(row=0, column=0)
|
||||
self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
|
||||
self.get_speed.grid(row=0, column=1)
|
||||
|
||||
def show_init(self):
|
||||
# 显示
|
||||
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # 第二行
|
||||
tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
|
||||
tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
|
||||
tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
|
||||
tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
|
||||
|
||||
# get数据
|
||||
|
||||
# ，展示出来
|
||||
self.cont_1 = tk.StringVar(self.frmLC)
|
||||
self.cont_1.set(str(self.res_angles[0]) + "°")
|
||||
self.cont_2 = tk.StringVar(self.frmLC)
|
||||
self.cont_2.set(str(self.res_angles[1]) + "°")
|
||||
self.cont_3 = tk.StringVar(self.frmLC)
|
||||
self.cont_3.set(str(self.res_angles[2]) + "°")
|
||||
self.cont_4 = tk.StringVar(self.frmLC)
|
||||
self.cont_4.set(str(self.res_angles[3]) + "°")
|
||||
self.cont_5 = tk.StringVar(self.frmLC)
|
||||
self.cont_5.set(str(self.res_angles[4]) + "°")
|
||||
self.cont_6 = tk.StringVar(self.frmLC)
|
||||
self.cont_6.set(str(self.res_angles[5]) + "°")
|
||||
self.cont_all = [
|
||||
self.cont_1,
|
||||
self.cont_2,
|
||||
self.cont_3,
|
||||
self.cont_4,
|
||||
self.cont_5,
|
||||
self.cont_6,
|
||||
self.speed,
|
||||
self.model,
|
||||
]
|
||||
|
||||
self.show_j1 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_1,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=0, column=1, padx=0, pady=5)
|
||||
|
||||
self.show_j2 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_2,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=1, column=1, padx=0, pady=5)
|
||||
self.show_j3 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_3,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=2, column=1, padx=0, pady=5)
|
||||
self.show_j4 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_4,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=3, column=1, padx=0, pady=5)
|
||||
self.show_j5 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_5,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=4, column=1, padx=0, pady=5)
|
||||
self.show_j6 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_6,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=5, column=1, padx=5, pady=5)
|
||||
|
||||
self.all_jo = [
|
||||
self.show_j1,
|
||||
self.show_j2,
|
||||
self.show_j3,
|
||||
self.show_j4,
|
||||
self.show_j5,
|
||||
self.show_j6,
|
||||
]
|
||||
|
||||
# 显示
|
||||
tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
|
||||
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行
|
||||
tk.Label(self.frmLC, text=" z ").grid(row=2, column=3)
|
||||
tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3)
|
||||
tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3)
|
||||
tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3)
|
||||
self.coord_x = tk.StringVar()
|
||||
self.coord_x.set(str(self.record_coords[0]))
|
||||
self.coord_y = tk.StringVar()
|
||||
self.coord_y.set(str(self.record_coords[1]))
|
||||
self.coord_z = tk.StringVar()
|
||||
self.coord_z.set(str(self.record_coords[2]))
|
||||
self.coord_rx = tk.StringVar()
|
||||
self.coord_rx.set(str(self.record_coords[3]))
|
||||
self.coord_ry = tk.StringVar()
|
||||
self.coord_ry.set(str(self.record_coords[4]))
|
||||
self.coord_rz = tk.StringVar()
|
||||
self.coord_rz.set(str(self.record_coords[5]))
|
||||
|
||||
self.coord_all = [
|
||||
self.coord_x,
|
||||
self.coord_y,
|
||||
self.coord_z,
|
||||
self.coord_rx,
|
||||
self.coord_ry,
|
||||
self.coord_rz,
|
||||
self.speed,
|
||||
self.model,
|
||||
]
|
||||
|
||||
self.show_x = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_x,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=0, column=4, padx=5, pady=5)
|
||||
self.show_y = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_y,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=1, column=4, padx=5, pady=5)
|
||||
self.show_z = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_z,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=2, column=4, padx=5, pady=5)
|
||||
self.show_rx = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_rx,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=3, column=4, padx=5, pady=5)
|
||||
self.show_ry = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_ry,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=4, column=4, padx=5, pady=5)
|
||||
self.show_rz = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.coord_rz,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=5, column=4, padx=5, pady=5)
|
||||
|
||||
# mm 单位展示
|
||||
self.unit = tk.StringVar()
|
||||
self.unit.set("mm")
|
||||
for i in range(6):
|
||||
tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
|
||||
row=i, column=5
|
||||
)
|
||||
|
||||
def gripper_open(self):
|
||||
try:
|
||||
self.switch_gripper(True)
|
||||
except ServiceException:
|
||||
# 可能由于该方法没有返回值，服务抛出无法处理的错误
|
||||
pass
|
||||
|
||||
def gripper_close(self):
|
||||
try:
|
||||
self.switch_gripper(False)
|
||||
except ServiceException:
|
||||
pass
|
||||
|
||||
def get_coord_input(self):
|
||||
# 获取 coord 输入的数据，发送给机械臂
|
||||
c_value = []
|
||||
for i in self.all_c:
|
||||
# print(type(i.get()))
|
||||
c_value.append(float(i.get()))
|
||||
self.speed = (
|
||||
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
|
||||
)
|
||||
c_value.append(self.speed)
|
||||
c_value.append(self.model)
|
||||
# print(c_value)
|
||||
try:
|
||||
self.set_coords(*c_value)
|
||||
except ServiceException:
|
||||
pass
|
||||
self.show_j_date(c_value[:-2], "coord")
|
||||
|
||||
def get_joint_input(self):
|
||||
# 获取joint输入的数据，发送给机械臂
|
||||
j_value = []
|
||||
for i in self.all_j:
|
||||
# print(type(i.get()))
|
||||
j_value.append(float(i.get()))
|
||||
self.speed = (
|
||||
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
|
||||
)
|
||||
j_value.append(self.speed)
|
||||
|
||||
try:
|
||||
self.set_angles(*j_value)
|
||||
except ServiceException:
|
||||
pass
|
||||
self.show_j_date(j_value[:-1])
|
||||
# return j_value,c_value,speed
|
||||
|
||||
def get_date(self):
|
||||
# 拿机械臂的数据，用于展示
|
||||
t = time.time()
|
||||
while time.time() - t < 2:
|
||||
self.res = self.get_coords()
|
||||
if self.res.x > 1:
|
||||
break
|
||||
time.sleep(0.1)
|
||||
|
||||
t = time.time()
|
||||
while time.time() - t < 2:
|
||||
self.angles = self.get_angles()
|
||||
if self.angles.joint_1 > 1:
|
||||
break
|
||||
time.sleep(0.1)
|
||||
# print(self.angles.joint_1)
|
||||
self.record_coords = [
|
||||
round(self.res.x, 2),
|
||||
round(self.res.y, 2),
|
||||
round(self.res.z, 2),
|
||||
round(self.res.rx, 2),
|
||||
round(self.res.ry, 2),
|
||||
round(self.res.rz, 2),
|
||||
self.speed,
|
||||
self.model,
|
||||
]
|
||||
self.res_angles = [
|
||||
round(self.angles.joint_1, 2),
|
||||
round(self.angles.joint_2, 2),
|
||||
round(self.angles.joint_3, 2),
|
||||
round(self.angles.joint_4, 2),
|
||||
round(self.angles.joint_5, 2),
|
||||
round(self.angles.joint_6, 2),
|
||||
]
|
||||
# print('coord:',self.record_coords)
|
||||
# print('angles:',self.res_angles)
|
||||
|
||||
# def send_input(self,dates):
|
||||
def show_j_date(self, date, way=""):
|
||||
# 展示数据
|
||||
if way == "coord":
|
||||
for i, j in zip(date, self.coord_all):
|
||||
# print(i)
|
||||
j.set(str(i))
|
||||
else:
|
||||
for i, j in zip(date, self.cont_all):
|
||||
j.set(str(i) + "°")
|
||||
|
||||
def run(self):
|
||||
while True:
|
||||
try:
|
||||
self.win.update()
|
||||
time.sleep(0.001)
|
||||
except tk.TclError as e:
|
||||
if "application has been destroyed" in str(e):
|
||||
break
|
||||
else:
|
||||
raise
|
||||
|
||||
|
||||
def main():
|
||||
window = tk.Tk()
|
||||
window.title("mycobot ros GUI")
|
||||
Window(window).run()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
48
mycobot_280jn/scripts/slider_control.py
Normal file
48
mycobot_280jn/scripts/slider_control.py
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
#!/usr/bin/env python2
|
||||
|
||||
"""[summary]
|
||||
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/ttyTHS1'
|
||||
baud: serial prot baudrate. Defaults is 1000000.
|
||||
"""
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
mc = None
|
||||
|
||||
|
||||
def callback(data):
|
||||
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
|
||||
print(data.position)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(value)
|
||||
|
||||
mc.send_radians(data_list, 80)
|
||||
# time.sleep(0.5)
|
||||
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
port = rospy.get_param("~port", "/dev/ttyTHS1")
|
||||
baud = rospy.get_param("~baud", 1000000)
|
||||
print(port, baud)
|
||||
mc = MyCobot(port, baud)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
173
mycobot_280jn/scripts/teleop_keyboard.py
Normal file
173
mycobot_280jn/scripts/teleop_keyboard.py
Normal file
|
|
@ -0,0 +1,173 @@
|
|||
#!/usr/bin/env python
|
||||
from __future__ import print_function
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
import sys
|
||||
import select
|
||||
import termios
|
||||
import tty
|
||||
import time
|
||||
|
||||
import roslib
|
||||
|
||||
|
||||
msg = """\
|
||||
Mycobot Teleop Keyboard Controller
|
||||
---------------------------
|
||||
Movimg options(control coordinations [x,y,z,rx,ry,rz]):
|
||||
w(x+)
|
||||
|
||||
a(y-) s(x-) d(y+)
|
||||
|
||||
z(z-) x(z+)
|
||||
|
||||
u(rx+) i(ry+) o(rz+)
|
||||
j(rx-) k(ry-) l(rz-)
|
||||
|
||||
Gripper control:
|
||||
g - open
|
||||
h - close
|
||||
|
||||
Other:
|
||||
1 - Go to init pose
|
||||
2 - Go to home pose
|
||||
3 - Resave home pose
|
||||
q - Quit
|
||||
"""
|
||||
|
||||
|
||||
def vels(speed, turn):
|
||||
return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn)
|
||||
|
||||
|
||||
class Raw(object):
|
||||
def __init__(self, stream):
|
||||
self.stream = stream
|
||||
self.fd = self.stream.fileno()
|
||||
|
||||
def __enter__(self):
|
||||
self.original_stty = termios.tcgetattr(self.stream)
|
||||
tty.setcbreak(self.stream)
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
|
||||
|
||||
|
||||
def teleop_keyboard():
|
||||
rospy.init_node("teleop_keyboard")
|
||||
|
||||
model = 0
|
||||
speed = rospy.get_param("~speed", 50)
|
||||
change_percent = rospy.get_param("~change_percent", 5)
|
||||
|
||||
change_angle = 180 * change_percent / 100
|
||||
change_len = 250 * change_percent / 100
|
||||
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
rospy.wait_for_service("set_joint_angles")
|
||||
rospy.wait_for_service("get_joint_coords")
|
||||
rospy.wait_for_service("set_joint_coords")
|
||||
rospy.wait_for_service("switch_gripper_status")
|
||||
print("service ready.")
|
||||
try:
|
||||
get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
|
||||
set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
|
||||
get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
|
||||
switch_gripper = rospy.ServiceProxy(
|
||||
"switch_gripper_status", GripperStatus)
|
||||
except:
|
||||
print("start error ...")
|
||||
exit(1)
|
||||
|
||||
init_pose = [0, 0, 0, 0, 0, 0, speed]
|
||||
home_pose = [0, 8, -127, 40, 0, 0, speed]
|
||||
|
||||
# rsp = set_angles(*init_pose)
|
||||
|
||||
while True:
|
||||
res = get_coords()
|
||||
if res.x > 1:
|
||||
break
|
||||
time.sleep(0.1)
|
||||
|
||||
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
|
||||
print(record_coords)
|
||||
|
||||
try:
|
||||
print(msg)
|
||||
print(vels(speed, change_percent))
|
||||
while 1:
|
||||
try:
|
||||
# print("\r current coords: %s" % record_coords, end="")
|
||||
with Raw(sys.stdin):
|
||||
key = sys.stdin.read(1)
|
||||
if key == "q":
|
||||
break
|
||||
elif key in ["w", "W"]:
|
||||
record_coords[0] += change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["s", "S"]:
|
||||
record_coords[0] -= change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["a", "A"]:
|
||||
record_coords[1] -= change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["d", "D"]:
|
||||
record_coords[1] += change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["z", "Z"]:
|
||||
record_coords[2] -= change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["x", "X"]:
|
||||
record_coords[2] += change_len
|
||||
set_coords(*record_coords)
|
||||
elif key in ["u", "U"]:
|
||||
record_coords[3] += change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["j", "J"]:
|
||||
record_coords[3] -= change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["i", "I"]:
|
||||
record_coords[4] += change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["k", "K"]:
|
||||
record_coords[4] -= change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["o", "O"]:
|
||||
record_coords[5] += change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["l", "L"]:
|
||||
record_coords[5] -= change_angle
|
||||
set_coords(*record_coords)
|
||||
elif key in ["g", "G"]:
|
||||
switch_gripper(True)
|
||||
elif key in ["h", "H"]:
|
||||
switch_gripper(False)
|
||||
elif key == "1":
|
||||
rsp = set_angles(*init_pose)
|
||||
elif key in "2":
|
||||
rsp = set_angles(*home_pose)
|
||||
elif key in "3":
|
||||
rep = get_angles()
|
||||
home_pose[0] = rep.joint_1
|
||||
home_pose[1] = rep.joint_2
|
||||
home_pose[2] = rep.joint_3
|
||||
home_pose[3] = rep.joint_4
|
||||
home_pose[5] = rep.joint_5
|
||||
else:
|
||||
continue
|
||||
|
||||
except Exception as e:
|
||||
# print(e)
|
||||
continue
|
||||
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
teleop_keyboard()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
29
mycobot_280jn/src/camera_display.cpp
Normal file
29
mycobot_280jn/src/camera_display.cpp
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
#include <ros/ros.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
void imageCallback(const sensor_msgs::ImageConstPtr &msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
|
||||
cv::waitKey(30);
|
||||
}
|
||||
catch (cv_bridge::Exception &e)
|
||||
{
|
||||
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ros::init(argc, argv, "image_listener");
|
||||
ros::NodeHandle nh;
|
||||
cv::namedWindow("view");
|
||||
cv::startWindowThread();
|
||||
image_transport::ImageTransport it(nh);
|
||||
image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
|
||||
ros::spin();
|
||||
cv::destroyWindow("view");
|
||||
}
|
||||
59
mycobot_280jn/src/opencv_camera.cpp
Normal file
59
mycobot_280jn/src/opencv_camera.cpp
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
#include <ros/ros.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <sstream> // for converting the command line parameter to integer
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
// Check if video source has been passed as a parameter
|
||||
if (argv[1] == NULL)
|
||||
{
|
||||
ROS_INFO("argv[1]=NULL\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ros::init(argc, argv, "image_publisher"); // Initialize node
|
||||
ros::NodeHandle nh;
|
||||
image_transport::ImageTransport it(nh);
|
||||
image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic
|
||||
|
||||
ros::Rate loop_rate(200); // refresh Hz.
|
||||
|
||||
// Convert the passed as command line parameter index for the video device to an integer
|
||||
std::istringstream video_sourceCmd(argv[1]);
|
||||
int video_source;
|
||||
// Check if it is indeed a number
|
||||
if (!(video_sourceCmd >> video_source))
|
||||
{
|
||||
ROS_INFO("video_sourceCmd is %d\n", video_source);
|
||||
return 1;
|
||||
}
|
||||
|
||||
cv::VideoCapture cap(video_source);
|
||||
// Check if video device can be opened with the given index
|
||||
if (!cap.isOpened())
|
||||
{
|
||||
ROS_INFO("can not opencv video device\n");
|
||||
return 1;
|
||||
}
|
||||
cv::Mat frame;
|
||||
sensor_msgs::ImagePtr msg;
|
||||
|
||||
while (nh.ok())
|
||||
{
|
||||
cap >> frame;
|
||||
// cv::imshow("veiwer", frame);
|
||||
// Check if grabbed frame is actually full with some content
|
||||
if (!frame.empty())
|
||||
{
|
||||
msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
|
||||
pub.publish(msg);
|
||||
//cv::Wait(1);
|
||||
}
|
||||
ros::spinOnce();
|
||||
loop_rate.sleep();
|
||||
// if(cv::waitKey(2) >= 0)
|
||||
// break;
|
||||
}
|
||||
}
|
||||
11
mycobot_280jn_moveit/.setup_assistant
Normal file
11
mycobot_280jn_moveit/.setup_assistant
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
moveit_setup_assistant_config:
|
||||
URDF:
|
||||
package: mycobot_description
|
||||
relative_path: urdf/jetsonNano/mycobot_urdf.urdf
|
||||
xacro_args: "--inorder "
|
||||
SRDF:
|
||||
relative_path: config/firefighter.srdf
|
||||
CONFIG:
|
||||
author_name: zachary
|
||||
author_email: lijun.zhang@elephantrobotics.com
|
||||
generated_timestamp: 1626074107
|
||||
22
mycobot_280jn_moveit/CMakeLists.txt
Normal file
22
mycobot_280jn_moveit/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(mycobot_280jn_moveit)
|
||||
|
||||
find_package(catkin REQUIRED
|
||||
rospy
|
||||
std_msgs
|
||||
moveit_msgs
|
||||
)
|
||||
|
||||
catkin_package()
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
catkin_install_python(PROGRAMS
|
||||
scripts/sync_plan.py
|
||||
scripts/path_planning_and_obstacle_avoidance_demo.py
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
PATTERN "setup_assistant.launch" EXCLUDE)
|
||||
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
25
mycobot_280jn_moveit/LICENSE
Normal file
25
mycobot_280jn_moveit/LICENSE
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
BSD 2-Clause License
|
||||
|
||||
Copyright (c) 2020, Elephant Robotics
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
18
mycobot_280jn_moveit/config/chomp_planning.yaml
Normal file
18
mycobot_280jn_moveit/config/chomp_planning.yaml
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
planning_time_limit: 10.0
|
||||
max_iterations: 200
|
||||
max_iterations_after_collision_free: 5
|
||||
smoothness_cost_weight: 0.1
|
||||
obstacle_cost_weight: 1.0
|
||||
learning_rate: 0.01
|
||||
smoothness_cost_velocity: 0.0
|
||||
smoothness_cost_acceleration: 1.0
|
||||
smoothness_cost_jerk: 0.0
|
||||
ridge_factor: 0.01
|
||||
use_pseudo_inverse: false
|
||||
pseudo_inverse_ridge_factor: 1e-4
|
||||
joint_update_limit: 0.1
|
||||
collision_clearence: 0.2
|
||||
collision_threshold: 0.07
|
||||
use_stochastic_descent: true
|
||||
enable_failure_recovery: true
|
||||
max_recovery_attempts: 5
|
||||
9
mycobot_280jn_moveit/config/fake_controllers.yaml
Normal file
9
mycobot_280jn_moveit/config/fake_controllers.yaml
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
controller_list:
|
||||
- name: fake_arm_group_controller
|
||||
joints:
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
42
mycobot_280jn_moveit/config/firefighter.srdf
Normal file
42
mycobot_280jn_moveit/config/firefighter.srdf
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
<?xml version="1.0" ?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot name="firefighter">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="arm_group">
|
||||
<joint name="joint2_to_joint1" />
|
||||
<joint name="joint3_to_joint2" />
|
||||
<joint name="joint4_to_joint3" />
|
||||
<joint name="joint5_to_joint4" />
|
||||
<joint name="joint6_to_joint5" />
|
||||
<joint name="joint6output_to_joint6" />
|
||||
</group>
|
||||
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
|
||||
<group_state name="init_pose" group="arm_group">
|
||||
<joint name="joint2_to_joint1" value="0" />
|
||||
<joint name="joint3_to_joint2" value="0" />
|
||||
<joint name="joint4_to_joint3" value="0" />
|
||||
<joint name="joint5_to_joint4" value="0" />
|
||||
<joint name="joint6_to_joint5" value="0" />
|
||||
<joint name="joint6output_to_joint6" value="0" />
|
||||
</group_state>
|
||||
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
|
||||
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" />
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
|
||||
<disable_collisions link1="joint1" link2="joint5" reason="Never" />
|
||||
<disable_collisions link1="joint2" link2="joint3" reason="Adjacent" />
|
||||
<disable_collisions link1="joint2" link2="joint5" reason="Never" />
|
||||
<disable_collisions link1="joint3" link2="joint4" reason="Adjacent" />
|
||||
<disable_collisions link1="joint3" link2="joint5" reason="Never" />
|
||||
<disable_collisions link1="joint4" link2="joint5" reason="Adjacent" />
|
||||
<disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />
|
||||
<disable_collisions link1="joint5" link2="joint6_flange" reason="Never" />
|
||||
<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" />
|
||||
</robot>
|
||||
34
mycobot_280jn_moveit/config/joint_limits.yaml
Normal file
34
mycobot_280jn_moveit/config/joint_limits.yaml
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
joint2_to_joint1:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint3_to_joint2:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint4_to_joint3:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint5_to_joint4:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint6_to_joint5:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
joint6output_to_joint6:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
5
mycobot_280jn_moveit/config/kinematics.yaml
Normal file
5
mycobot_280jn_moveit/config/kinematics.yaml
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
arm_group:
|
||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
kinematics_solver_attempts: 3
|
||||
150
mycobot_280jn_moveit/config/ompl_planning.yaml
Normal file
150
mycobot_280jn_moveit/config/ompl_planning.yaml
Normal file
|
|
@ -0,0 +1,150 @@
|
|||
planner_configs:
|
||||
SBL:
|
||||
type: geometric::SBL
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
EST:
|
||||
type: geometric::EST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LBKPIECE:
|
||||
type: geometric::LBKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
BKPIECE:
|
||||
type: geometric::BKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
KPIECE:
|
||||
type: geometric::KPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
RRT:
|
||||
type: geometric::RRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
RRTConnect:
|
||||
type: geometric::RRTConnect
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
RRTstar:
|
||||
type: geometric::RRTstar
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
|
||||
TRRT:
|
||||
type: geometric::TRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
max_states_failed: 10 # when to start increasing temp. default: 10
|
||||
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
||||
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
||||
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
||||
PRM:
|
||||
type: geometric::PRM
|
||||
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
|
||||
PRMstar:
|
||||
type: geometric::PRMstar
|
||||
FMT:
|
||||
type: geometric::FMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
|
||||
nearest_k: 1 # use Knearest strategy. default: 1
|
||||
cache_cc: 1 # use collision checking cache. default: 1
|
||||
heuristics: 0 # activate cost to go heuristics. default: 0
|
||||
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
BFMT:
|
||||
type: geometric::BFMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
|
||||
nearest_k: 1 # use the Knearest strategy. default: 1
|
||||
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
|
||||
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
|
||||
heuristics: 1 # activates cost to go heuristics. default: 1
|
||||
cache_cc: 1 # use the collision checking cache. default: 1
|
||||
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
PDST:
|
||||
type: geometric::PDST
|
||||
STRIDE:
|
||||
type: geometric::STRIDE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
|
||||
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
|
||||
max_degree: 18 # max degree of a node in the GNAT. default: 12
|
||||
min_degree: 12 # min degree of a node in the GNAT. default: 12
|
||||
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
|
||||
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
|
||||
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
|
||||
BiTRRT:
|
||||
type: geometric::BiTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
||||
init_temperature: 100 # initial temperature. default: 100
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
||||
LBTRRT:
|
||||
type: geometric::LBTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
epsilon: 0.4 # optimality approximation factor. default: 0.4
|
||||
BiEST:
|
||||
type: geometric::BiEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
ProjEST:
|
||||
type: geometric::ProjEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LazyPRM:
|
||||
type: geometric::LazyPRM
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
LazyPRMstar:
|
||||
type: geometric::LazyPRMstar
|
||||
SPARS:
|
||||
type: geometric::SPARS
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 1000 # maximum consecutive failure limit. default: 1000
|
||||
SPARStwo:
|
||||
type: geometric::SPARStwo
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 5000 # maximum consecutive failure limit. default: 5000
|
||||
arm_group:
|
||||
default_planner_config: None
|
||||
planner_configs:
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
- BKPIECE
|
||||
- KPIECE
|
||||
- RRT
|
||||
- RRTConnect
|
||||
- RRTstar
|
||||
- TRRT
|
||||
- PRM
|
||||
- PRMstar
|
||||
- FMT
|
||||
- BFMT
|
||||
- PDST
|
||||
- STRIDE
|
||||
- BiTRRT
|
||||
- LBTRRT
|
||||
- BiEST
|
||||
- ProjEST
|
||||
- LazyPRM
|
||||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
|
||||
longest_valid_segment_fraction: 0.005
|
||||
26
mycobot_280jn_moveit/config/ros_controllers.yaml
Normal file
26
mycobot_280jn_moveit/config/ros_controllers.yaml
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
# Simulation settings for using moveit_sim_controllers
|
||||
moveit_sim_hw_interface:
|
||||
joint_model_group: arm_group
|
||||
joint_model_group_pose: init_pose
|
||||
# Settings for ros_control_boilerplate control loop
|
||||
generic_hw_control_loop:
|
||||
loop_hz: 300
|
||||
cycle_time_error_threshold: 0.01
|
||||
# Settings for ros_control hardware interface
|
||||
hardware_interface:
|
||||
joints:
|
||||
- vitual_joint
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
sim_control_mode: 1 # 0: position, 1: velocity
|
||||
# Publish all joint states
|
||||
# Creates the /joint_states topic necessary in ROS
|
||||
joint_state_controller:
|
||||
type: joint_state_controller/JointStateController
|
||||
publish_rate: 50
|
||||
controller_list:
|
||||
[]
|
||||
10
mycobot_280jn_moveit/config/sensors_3d.yaml
Normal file
10
mycobot_280jn_moveit/config/sensors_3d.yaml
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
|
||||
sensors:
|
||||
- filtered_cloud_topic: filtered_cloud
|
||||
max_range: 5.0
|
||||
max_update_rate: 1.0
|
||||
padding_offset: 0.1
|
||||
padding_scale: 1.0
|
||||
point_cloud_topic: /head_mount_kinect/depth_registered/points
|
||||
point_subsample: 1
|
||||
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
<!-- CHOMP Plugin for MoveIt! -->
|
||||
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
|
||||
</launch>
|
||||
15
mycobot_280jn_moveit/launch/default_warehouse_db.launch
Normal file
15
mycobot_280jn_moveit/launch/default_warehouse_db.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<arg name="reset" default="false"/>
|
||||
<!-- If not specified, we'll use a default database location -->
|
||||
<arg name="moveit_warehouse_database_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- Launch the warehouse with the configured database location -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
|
||||
</include>
|
||||
|
||||
<!-- If we want to reset the database, run this node -->
|
||||
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
|
||||
|
||||
</launch>
|
||||
57
mycobot_280jn_moveit/launch/demo.launch
Normal file
57
mycobot_280jn_moveit/launch/demo.launch
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
<launch>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="true"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include> -->
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
70
mycobot_280jn_moveit/launch/demo_gazebo.launch
Normal file
70
mycobot_280jn_moveit/launch/demo_gazebo.launch
Normal file
|
|
@ -0,0 +1,70 @@
|
|||
<launch>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Gazebo specific options -->
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<!-- By default, use the urdf location provided from the package -->
|
||||
<arg name="urdf_path" default="$(find mycobot_description)/urdf/jetsonNano/mycobot_urdf.urdf"/>
|
||||
|
||||
<!-- launch the gazebo simulator and spawn the robot -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/gazebo.launch" >
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
|
||||
<arg name="urdf_path" value="$(arg urdf_path)"/>
|
||||
</include>
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="false"/>
|
||||
</include>
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[/joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="false"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
<launch>
|
||||
|
||||
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
|
||||
|
||||
<!-- The rest of the params are specific to this plugin -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/fake_controllers.yaml"/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
|
||||
if no argument is passed, moveit_simple_controller_manager will be set -->
|
||||
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
|
||||
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
|
||||
|
||||
<!-- loads ros_controllers to the param server -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/ros_controllers.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
<launch>
|
||||
|
||||
</launch>
|
||||
23
mycobot_280jn_moveit/launch/gazebo.launch
Normal file
23
mycobot_280jn_moveit/launch/gazebo.launch
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="urdf_path" default="$(find mycobot_description)/urdf/jetsonNano/mycobot_urdf.urdf"/>
|
||||
|
||||
<!-- startup simulated world -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" default="worlds/empty.world"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="gui" value="$(arg gazebo_gui)"/>
|
||||
</include>
|
||||
|
||||
<!-- send robot urdf to param server -->
|
||||
<param name="robot_description" textfile="$(arg urdf_path)" />
|
||||
|
||||
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
|
||||
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
|
||||
respawn="false" output="screen" />
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/ros_controllers.launch"/>
|
||||
|
||||
</launch>
|
||||
17
mycobot_280jn_moveit/launch/joystick_control.launch
Normal file
17
mycobot_280jn_moveit/launch/joystick_control.launch
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
|
||||
|
||||
<arg name="dev" default="/dev/input/js0" />
|
||||
|
||||
<!-- Launch joy node -->
|
||||
<node pkg="joy" type="joy_node" name="joy">
|
||||
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
|
||||
<param name="deadzone" value="0.2" />
|
||||
<param name="autorepeat_rate" value="40" />
|
||||
<param name="coalesce_interval" value="0.025" />
|
||||
</node>
|
||||
|
||||
<!-- Launch python interface -->
|
||||
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
|
||||
|
||||
</launch>
|
||||
77
mycobot_280jn_moveit/launch/move_group.launch
Normal file
77
mycobot_280jn_moveit/launch/move_group.launch
Normal file
|
|
@ -0,0 +1,77 @@
|
|||
<launch>
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch" />
|
||||
|
||||
<!-- GDB Debug Option -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix"
|
||||
value="gdb -x $(find mycobot_280jn_moveit)/launch/gdb_settings.gdb --ex run --args" />
|
||||
|
||||
<!-- Verbose Mode Option -->
|
||||
<arg name="info" default="$(arg debug)" />
|
||||
<arg unless="$(arg info)" name="command_args" value="" />
|
||||
<arg if="$(arg info)" name="command_args" value="--debug" />
|
||||
|
||||
<!-- move_group settings -->
|
||||
<arg name="allow_trajectory_execution" default="true"/>
|
||||
<arg name="fake_execution" default="false"/>
|
||||
<arg name="max_safe_path_cost" default="1"/>
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
<arg name="publish_monitored_planning_scene" default="true"/>
|
||||
|
||||
<arg name="capabilities" default=""/>
|
||||
<arg name="disable_capabilities" default=""/>
|
||||
<!-- load these non-default MoveGroup capabilities (space seperated) -->
|
||||
<!--
|
||||
<arg name="capabilities" value="
|
||||
a_package/AwsomeMotionPlanningCapability
|
||||
another_package/GraspPlanningPipeline
|
||||
" />
|
||||
-->
|
||||
|
||||
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
|
||||
<!--
|
||||
<arg name="disable_capabilities" value="
|
||||
move_group/MoveGroupKinematicsService
|
||||
move_group/ClearOctomapService
|
||||
" />
|
||||
-->
|
||||
|
||||
<!-- Planning Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="ompl" />
|
||||
</include>
|
||||
|
||||
<!-- Trajectory Execution Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_manage_controllers" value="true" />
|
||||
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
|
||||
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
|
||||
</include>
|
||||
|
||||
<!-- Sensors Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_sensor_manager" value="firefighter" />
|
||||
</include>
|
||||
|
||||
<!-- Start the actual move_group node/action server -->
|
||||
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
|
||||
<!-- Set the display variable, in case OpenGL code is used internally -->
|
||||
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
|
||||
|
||||
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
|
||||
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
<param name="capabilities" value="$(arg capabilities)"/>
|
||||
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
|
||||
|
||||
|
||||
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
|
||||
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
250
mycobot_280jn_moveit/launch/moveit.rviz
Normal file
250
mycobot_280jn_moveit/launch/moveit.rviz
Normal file
|
|
@ -0,0 +1,250 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 84
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /MotionPlanning1
|
||||
- /MotionPlanning1/Scene Geometry1
|
||||
- /MotionPlanning1/Scene Robot1
|
||||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.742560029
|
||||
Tree Height: 325
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
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: 0.0299999993
|
||||
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
|
||||
- Acceleration_Scaling_Factor: 1
|
||||
Class: moveit_rviz_plugin/MotionPlanning
|
||||
Enabled: true
|
||||
Move Group Namespace: ""
|
||||
MoveIt_Allow_Approximate_IK: false
|
||||
MoveIt_Allow_External_Program: false
|
||||
MoveIt_Allow_Replanning: false
|
||||
MoveIt_Allow_Sensor_Positioning: false
|
||||
MoveIt_Goal_Tolerance: 0
|
||||
MoveIt_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Constraint_Aware_IK: true
|
||||
MoveIt_Warehouse_Host: 127.0.0.1
|
||||
MoveIt_Warehouse_Port: 33829
|
||||
MoveIt_Workspace:
|
||||
Center:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Size:
|
||||
X: 2
|
||||
Y: 2
|
||||
Z: 2
|
||||
Name: MotionPlanning
|
||||
Planned Path:
|
||||
Color Enabled: false
|
||||
Interrupt Display: false
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
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
|
||||
Loop Animation: false
|
||||
Robot Alpha: 0.5
|
||||
Robot Color: 150; 50; 150
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Show Trail: false
|
||||
State Display Time: 0.05 s
|
||||
Trail Step Size: 1
|
||||
Trajectory Topic: move_group/display_planned_path
|
||||
Planning Metrics:
|
||||
Payload: 1
|
||||
Show Joint Torques: false
|
||||
Show Manipulability: false
|
||||
Show Manipulability Index: false
|
||||
Show Weight Limit: false
|
||||
TextHeight: 0.0799999982
|
||||
Planning Request:
|
||||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: mycobot_arm
|
||||
Query Goal State: true
|
||||
Query Start State: true
|
||||
Show Workspace: false
|
||||
Start State Alpha: 1
|
||||
Start State Color: 0; 255; 0
|
||||
Planning Scene Topic: move_group/monitored_planning_scene
|
||||
Robot Description: robot_description
|
||||
Scene Geometry:
|
||||
Scene Alpha: 1
|
||||
Scene Color: 50; 230; 50
|
||||
Scene Display Time: 0.200000003
|
||||
Show Scene Geometry: true
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
Scene Robot:
|
||||
Attached Body Color: 150; 50; 150
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
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
|
||||
Robot Alpha: 0.5
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: false
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 1
|
||||
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
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/XYOrbit
|
||||
Distance: 1.39158678
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.113567002
|
||||
Y: 0.105920002
|
||||
Z: 2.23518001e-07
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.439796686
|
||||
Target Frame: joint1
|
||||
Value: XYOrbit (rviz)
|
||||
Yaw: 2.5317657
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1028
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1828
|
||||
X: 92
|
||||
Y: 24
|
||||
16
mycobot_280jn_moveit/launch/moveit_rviz.launch
Normal file
16
mycobot_280jn_moveit/launch/moveit_rviz.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<arg name="config" default="false" />
|
||||
<arg unless="$(arg config)" name="command_args" value="" />
|
||||
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_280jn_moveit)/launch/moveit.rviz" />
|
||||
|
||||
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
|
||||
args="$(arg command_args)" output="screen">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
57
mycobot_280jn_moveit/launch/mycobot_moveit.launch
Normal file
57
mycobot_280jn_moveit/launch/mycobot_moveit.launch
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
<launch>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="true"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
<launch>
|
||||
|
||||
<!-- OMPL Plugin for MoveIt! -->
|
||||
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
|
||||
|
||||
<!-- The request adapters (plugins) used when planning with OMPL.
|
||||
ORDER MATTERS -->
|
||||
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints" />
|
||||
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>
|
||||
|
||||
</launch>
|
||||
24
mycobot_280jn_moveit/launch/planning_context.launch
Normal file
24
mycobot_280jn_moveit/launch/planning_context.launch
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
|
||||
<arg name="load_robot_description" default="false"/>
|
||||
|
||||
<!-- The name of the parameter under which the URDF is loaded -->
|
||||
<arg name="robot_description" default="robot_description"/>
|
||||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280jn_moveit)/config/firefighter.srdf" />
|
||||
|
||||
<!-- Load updated joint limits (override information from URDF) -->
|
||||
<group ns="$(arg robot_description)_planning">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/joint_limits.yaml"/>
|
||||
</group>
|
||||
|
||||
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
|
||||
<group ns="$(arg robot_description)_kinematics">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
10
mycobot_280jn_moveit/launch/planning_pipeline.launch.xml
Normal file
10
mycobot_280jn_moveit/launch/planning_pipeline.launch.xml
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include different planning pipelines;
|
||||
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
|
||||
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
|
||||
|
||||
</launch>
|
||||
11
mycobot_280jn_moveit/launch/ros_controllers.launch
Normal file
11
mycobot_280jn_moveit/launch/ros_controllers.launch
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
|
||||
<!-- Load joint controller configurations from YAML file to parameter server -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/ros_controllers.yaml" command="load"/>
|
||||
|
||||
<!-- Load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args=""/>
|
||||
|
||||
</launch>
|
||||
22
mycobot_280jn_moveit/launch/run_benchmark_ompl.launch
Normal file
22
mycobot_280jn_moveit/launch/run_benchmark_ompl.launch
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
<launch>
|
||||
|
||||
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
|
||||
<arg name="cfg" />
|
||||
|
||||
<!-- Load URDF -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- Start the database -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
|
||||
</include>
|
||||
|
||||
<!-- Start Benchmark Executable -->
|
||||
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
17
mycobot_280jn_moveit/launch/sensor_manager.launch.xml
Normal file
17
mycobot_280jn_moveit/launch/sensor_manager.launch.xml
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include the settings for sensor managers -->
|
||||
|
||||
<!-- Params for 3D sensors config -->
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/sensors_3d.yaml" />
|
||||
|
||||
<!-- Params for the octomap monitor -->
|
||||
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
|
||||
<param name="octomap_resolution" type="double" value="0.025" />
|
||||
<param name="max_range" type="double" value="5.0" />
|
||||
|
||||
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
|
||||
<arg name="moveit_sensor_manager" default="firefighter" />
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
|
||||
|
||||
</launch>
|
||||
15
mycobot_280jn_moveit/launch/setup_assistant.launch
Normal file
15
mycobot_280jn_moveit/launch/setup_assistant.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
|
||||
<launch>
|
||||
|
||||
<!-- Debug Info -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<!-- Run -->
|
||||
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
|
||||
args="--config_pkg=mycobot_280jn_moveit"
|
||||
launch-prefix="$(arg launch_prefix)"
|
||||
output="screen" />
|
||||
|
||||
</launch>
|
||||
20
mycobot_280jn_moveit/launch/trajectory_execution.launch.xml
Normal file
20
mycobot_280jn_moveit/launch/trajectory_execution.launch.xml
Normal file
|
|
@ -0,0 +1,20 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include the settings for trajectory execution -->
|
||||
|
||||
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
|
||||
<arg name="moveit_manage_controllers" default="true"/>
|
||||
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
|
||||
|
||||
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
|
||||
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
|
||||
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
|
||||
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
|
||||
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
|
||||
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
|
||||
|
||||
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
|
||||
<arg name="moveit_controller_manager" default="firefighter" />
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
|
||||
|
||||
</launch>
|
||||
15
mycobot_280jn_moveit/launch/warehouse.launch
Normal file
15
mycobot_280jn_moveit/launch/warehouse.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<!-- The path to the database must be specified -->
|
||||
<arg name="moveit_warehouse_database_path" />
|
||||
|
||||
<!-- Load warehouse parameters -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse_settings.launch.xml" />
|
||||
|
||||
<!-- Run the DB server -->
|
||||
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
|
||||
<param name="overwrite" value="false"/>
|
||||
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
16
mycobot_280jn_moveit/launch/warehouse_settings.launch.xml
Normal file
16
mycobot_280jn_moveit/launch/warehouse_settings.launch.xml
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<!-- Set the parameters for the warehouse and run the mongodb server. -->
|
||||
|
||||
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
|
||||
<arg name="moveit_warehouse_port" default="33829" />
|
||||
|
||||
<!-- The default DB host for moveit -->
|
||||
<arg name="moveit_warehouse_host" default="localhost" />
|
||||
|
||||
<!-- Set parameters for the warehouse -->
|
||||
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
|
||||
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
|
||||
<param name="warehouse_exec" value="mongod" />
|
||||
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
|
||||
|
||||
</launch>
|
||||
40
mycobot_280jn_moveit/package.xml
Normal file
40
mycobot_280jn_moveit/package.xml
Normal file
|
|
@ -0,0 +1,40 @@
|
|||
<package>
|
||||
|
||||
<name>mycobot_280jn_moveit</name>
|
||||
<version>0.3.0</version>
|
||||
<description>
|
||||
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
|
||||
</description>
|
||||
<author email="lijun.zhang@elephantrobotics.com">zachary</author>
|
||||
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">http://moveit.ros.org/</url>
|
||||
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
|
||||
<url type="repository">https://github.com/ros-planning/moveit</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<run_depend>moveit_ros_move_group</run_depend>
|
||||
<run_depend>moveit_fake_controller_manager</run_depend>
|
||||
<run_depend>moveit_kinematics</run_depend>
|
||||
<run_depend>moveit_planners_ompl</run_depend>
|
||||
<run_depend>moveit_ros_visualization</run_depend>
|
||||
<run_depend>moveit_setup_assistant</run_depend>
|
||||
<run_depend>joint_state_publisher</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
|
||||
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>actionlib</build_depend>
|
||||
<build_depend>moveit_msgs</build_depend>
|
||||
<build_depend>mycobot_description</build_depend>
|
||||
|
||||
<run_depend>mycobot_description</run_depend>
|
||||
|
||||
|
||||
</package>
|
||||
|
|
@ -0,0 +1,125 @@
|
|||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import rospy, roslib, sys
|
||||
import moveit_commander
|
||||
from moveit_msgs.msg import RobotTrajectory
|
||||
from trajectory_msgs.msg import JointTrajectoryPoint
|
||||
|
||||
from geometry_msgs.msg import PoseStamped, Pose
|
||||
from tf.transformations import euler_from_quaternion, quaternion_from_euler
|
||||
|
||||
|
||||
class MoveItPlanningDemo:
|
||||
def __init__(self):
|
||||
# 初始化move_group的API
|
||||
moveit_commander.roscpp_initialize(sys.argv)
|
||||
|
||||
# 初始化ROS节点
|
||||
rospy.init_node("moveit_ik_demo")
|
||||
|
||||
# 初始化场景对象，用来监听外部环境的变化
|
||||
self.scene = moveit_commander.PlanningSceneInterface()
|
||||
rospy.sleep(1)
|
||||
|
||||
# 初始化需要使用move group控制的机械臂中的self.arm group
|
||||
self.arm = moveit_commander.MoveGroupCommander("arm_group")
|
||||
|
||||
# 获取终端link的名称
|
||||
self.end_effector_link = self.arm.get_end_effector_link()
|
||||
|
||||
# 设置目标位置所使用的参考坐标系
|
||||
self.reference_frame = "joint1"
|
||||
self.arm.set_pose_reference_frame(self.reference_frame)
|
||||
|
||||
# 当运动规划失败后，允许重新规划
|
||||
self.arm.allow_replanning(True)
|
||||
|
||||
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
|
||||
self.arm.set_goal_position_tolerance(0.01)
|
||||
self.arm.set_goal_orientation_tolerance(0.05)
|
||||
|
||||
def moving(self):
|
||||
# # 控制机械臂先回到初始化位置
|
||||
self.arm.set_named_target("init_pose")
|
||||
self.arm.go()
|
||||
rospy.sleep(2)
|
||||
|
||||
# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
|
||||
# 姿态使用四元数描述，基于base_link坐标系
|
||||
target_pose = PoseStamped()
|
||||
target_pose.header.frame_id = self.reference_frame
|
||||
target_pose.header.stamp = rospy.Time.now()
|
||||
target_pose.pose.position.x = 0.132
|
||||
target_pose.pose.position.y = -0.150
|
||||
target_pose.pose.position.z = 0.075
|
||||
target_pose.pose.orientation.x = 0.026
|
||||
target_pose.pose.orientation.y = 1.0
|
||||
target_pose.pose.orientation.z = 0.0
|
||||
target_pose.pose.orientation.w = 0.014
|
||||
|
||||
# 设置机器臂当前的状态作为运动初始状态
|
||||
self.arm.set_start_state_to_current_state()
|
||||
|
||||
# 设置机械臂终端运动的目标位姿
|
||||
self.arm.set_pose_target(target_pose, self.end_effector_link)
|
||||
|
||||
# 规划运动路径
|
||||
traj = self.arm.plan()
|
||||
|
||||
# 按照规划的运动路径控制机械臂运动
|
||||
self.arm.execute(traj)
|
||||
rospy.sleep(1)
|
||||
|
||||
# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
|
||||
self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
|
||||
self.arm.go()
|
||||
rospy.sleep(1)
|
||||
|
||||
self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
|
||||
self.arm.go()
|
||||
rospy.sleep(1)
|
||||
|
||||
# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
|
||||
# self.arm.shift_pose_target(3, -1.57, end_effector_link)
|
||||
# self.arm.go()
|
||||
# rospy.sleep(1)
|
||||
|
||||
def run(self):
|
||||
self.scene.remove_world_object("suit")
|
||||
|
||||
# 没有障碍物运行一次
|
||||
self.moving()
|
||||
|
||||
# 添加环境
|
||||
quat = quaternion_from_euler(3.1415, 0, -1.57)
|
||||
|
||||
suit_post = PoseStamped()
|
||||
suit_post.header.frame_id = self.reference_frame
|
||||
suit_post.pose.position.x = 0.0
|
||||
suit_post.pose.position.y = 0.0
|
||||
suit_post.pose.position.z = -0.02
|
||||
suit_post.pose.orientation.x = quat[0]
|
||||
suit_post.pose.orientation.y = quat[1]
|
||||
suit_post.pose.orientation.z = quat[2]
|
||||
suit_post.pose.orientation.w = quat[3]
|
||||
|
||||
suit_path = (
|
||||
roslib.packages.get_pkg_dir("mycobot_description")
|
||||
+ "/urdf/mycobot/suit_env.dae"
|
||||
)
|
||||
# need `pyassimp==3.3`
|
||||
self.scene.add_mesh("suit", suit_post, suit_path)
|
||||
rospy.sleep(2)
|
||||
|
||||
# 有环境影响后在运行一次
|
||||
self.moving()
|
||||
|
||||
# 关闭并退出moveit
|
||||
moveit_commander.roscpp_shutdown()
|
||||
moveit_commander.os._exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
o = MoveItPlanningDemo()
|
||||
o.run()
|
||||
39
mycobot_280jn_moveit/scripts/sync_plan.py
Normal file
39
mycobot_280jn_moveit/scripts/sync_plan.py
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
#!/usr/bin/env python2
|
||||
import time
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
mc = None
|
||||
|
||||
|
||||
def callback(data):
|
||||
rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
# if index != 2:
|
||||
# value *= -1
|
||||
data_list.append(value)
|
||||
|
||||
mc.send_radians(data_list, 80)
|
||||
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
rospy.init_node("mycobot_reciver", anonymous=True)
|
||||
|
||||
port = rospy.get_param("~port", "/dev/ttyTHS1")
|
||||
baud = rospy.get_param("~baud", 1000000)
|
||||
print(port, baud)
|
||||
mc = MyCobot(port, baud)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
1967
mycobot_description/urdf/280jn/joint1_jet.dae
Normal file
1967
mycobot_description/urdf/280jn/joint1_jet.dae
Normal file
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|
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|
Before Width: | Height: | Size: 6.7 KiB After Width: | Height: | Size: 6.7 KiB |
|
Before Width: | Height: | Size: 6.7 KiB After Width: | Height: | Size: 6.7 KiB |
|
Before Width: | Height: | Size: 6.7 KiB After Width: | Height: | Size: 6.7 KiB |
|
Before Width: | Height: | Size: 25 KiB After Width: | Height: | Size: 25 KiB |
|
Before Width: | Height: | Size: 6.7 KiB After Width: | Height: | Size: 6.7 KiB |
|
|
@ -8,7 +8,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint1_jet.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint1_jet.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
|
|
@ -17,7 +17,7 @@
|
|||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint2.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
|
|
@ -28,7 +28,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint3.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
|
|
@ -39,7 +39,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint4.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
|
|
@ -52,7 +52,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint5.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</visual>
|
||||
|
|
@ -63,7 +63,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint6.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
|
|
@ -74,7 +74,7 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/jetsonNano/joint7.dae"/>
|
||||
<mesh filename="package://mycobot_description/urdf/280jn/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
File diff suppressed because one or more lines are too long
Loading…
Add table
Reference in a new issue