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update myarm ros1 teleop_keyboard control

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This commit is contained in:
wangWking 2023-09-26 11:55:49 +08:00
parent 332ebde9e8
commit 7f09673945
1 changed files with 5 additions and 0 deletions
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5
myArm/myarm/scripts/teleop_keyboard.py
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@ -70,6 +70,7 @@ def teleop_keyboard():
rospy.wait_for_service("switch_gripper_status")
print("service ready.")
try:
print("start service...")
get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
@ -87,8 +88,12 @@ def teleop_keyboard():
while True:
res = get_coords()
print('current coords: {}'.format(res))
if res.x > 1:
break
else:
print('res.X < 1 {}'.format(res))
print('Please adjust the robot joint location')
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]