2022款320适配新版pymycobot库，2020款320提示使用指定范围版本

mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py

@@ -7,7 +7,19 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 
 def talker():

mycobot_320/mycobot_320/scripts/mycobot_320_gripper_slider.py

@@ -13,7 +13,19 @@ import rospy
 import time
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 
 mc = None

mycobot_320/mycobot_320/scripts/mycobot_320_slider.py

@@ -12,7 +12,19 @@ Passable parameters:
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 
 mc = None

mycobot_320/mycobot_320_communication/CMakeLists.txt

@@ -170,6 +170,7 @@ include_directories(
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/mycobot_services.py
+  scripts/new_mycobot_services.py
   scripts/mycobot_topics.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

mycobot_320/mycobot_320_communication/launch/new_service.launch

@@ -4,7 +4,7 @@
 	<arg name="baud" default="115200" />
 
 	<!-- Open communication service ，开启通讯服务-->
-	<node name="mycobot_services" pkg="mycobot_320_communication" type="mycobot_services.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_320_communication" type="new_mycobot_services.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     </node>

mycobot_320/mycobot_320_communication/launch/new_service_pi.launch

@@ -4,7 +4,7 @@
 	<arg name="baud" default="115200" />
 
 	<!-- Open communication service ，开启通讯服务-->
-	<node name="mycobot_services" pkg="mycobot_320_communication" type="mycobot_services.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_320_communication" type="new_mycobot_services.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     </node>

mycobot_320/mycobot_320_communication/scripts/mycobot_services.py

@@ -6,7 +6,19 @@ import os
 import fcntl
 from mycobot_communication.srv import *
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 mc = None
 

mycobot_320/mycobot_320_communication/scripts/new_mycobot_services.py

@@ -0,0 +1,217 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+import rospy
+import os
+import fcntl
+from mycobot_communication.srv import *
+
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
+
+mc = None
+
+# Avoid serial port conflicts and need to be locked
+def acquire(lock_file):
+    open_mode = os.O_RDWR | os.O_CREAT | os.O_TRUNC
+    fd = os.open(lock_file, open_mode)
+
+    pid = os.getpid()
+    lock_file_fd = None
+    
+    timeout = 50.0
+    start_time = current_time = time.time()
+    while current_time < start_time + timeout:
+        try:
+            # The LOCK_EX means that only one process can hold the lock
+            # The LOCK_NB means that the fcntl.flock() is not blocking
+            # and we are able to implement termination of while loop,
+            # when timeout is reached.
+            fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+        except (IOError, OSError):
+            pass
+        else:
+            lock_file_fd = fd
+            break
+        print('pid waiting for lock:%d'% pid)
+        time.sleep(1.0)
+        current_time = time.time()
+    if lock_file_fd is None:
+        os.close(fd)
+    return lock_file_fd
+
+
+def release(lock_file_fd):
+    # Do not remove the lockfile:
+    fcntl.flock(lock_file_fd, fcntl.LOCK_UN)
+    os.close(lock_file_fd)
+    return None
+
+
+def create_handle():
+    global mc
+    rospy.init_node("mycobot_services")
+    rospy.loginfo("start ...")
+    port = rospy.get_param("~port")
+    baud = rospy.get_param("~baud")
+    rospy.loginfo("%s,%s" % (port, baud))
+    mc = MyCobot320(port, baud)
+
+
+def create_services():
+    rospy.Service("set_joint_angles", SetAngles, set_angles)
+    rospy.Service("get_joint_angles", GetAngles, get_angles)
+    rospy.Service("set_joint_coords", SetCoords, set_coords)
+    rospy.Service("get_joint_coords", GetCoords, get_coords)
+    rospy.Service("switch_gripper_status", GripperStatus, switch_status)
+    rospy.Service("switch_pump_status", PumpStatus, toggle_pump)
+    rospy.loginfo("ready")
+    rospy.spin()
+
+
+def set_angles(req):
+    """set angles，设置角度"""
+    angles = [
+        req.joint_1,
+        req.joint_2,
+        req.joint_3,
+        req.joint_4,
+        req.joint_5,
+        req.joint_6,
+    ]
+    sp = req.speed
+
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        mc.send_angles(angles, sp)
+        release(lock)
+
+    return SetAnglesResponse(True)
+
+
+def get_angles(req):
+    """get angles,获取角度"""
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        angles = mc.get_angles()
+        release(lock)
+        return GetAnglesResponse(*angles)
+
+
+def set_coords(req):
+    coords = [
+        req.x,
+        req.y,
+        req.z,
+        req.rx,
+        req.ry,
+        req.rz,
+    ]
+    sp = req.speed
+    mod = req.model
+
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        mc.send_coords(coords, sp, mod)
+        release(lock)
+
+    return SetCoordsResponse(True)
+
+
+def get_coords(req):
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        coords = mc.get_coords()
+        release(lock)
+        return GetCoordsResponse(*coords)
+
+
+def switch_status(req):
+    """Gripper switch status"""
+    """夹爪开关状态"""
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        if req.Status:
+            mc.set_gripper_state(0, 80)
+        else:
+            mc.set_gripper_state(1, 80)
+        release(lock)
+
+    return GripperStatusResponse(True)
+
+
+def toggle_pump(req):
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        if req.Status:
+            mc.set_basic_output(req.Pin1, 0)
+            mc.set_basic_output(req.Pin2, 0)
+        else:
+            mc.set_basic_output(req.Pin1, 1)
+            mc.set_basic_output(req.Pin2, 1)
+        release(lock)
+    return PumpStatusResponse(True)
+
+
+robot_msg = """
+MyCobot Status
+--------------------------------
+Joint Limit:
+    joint 1: -170 ~ +170
+    joint 2: -170 ~ +170
+    joint 3: -170 ~ +170
+    joint 4: -170 ~ +170
+    joint 5: -170 ~ +170
+    joint 6: -180 ~ +180
+
+Connect Status: %s
+
+Servo Infomation: %s
+
+Servo Temperature: %s
+
+Atom Version: %s
+"""
+
+
+def output_robot_message():
+    connect_status = False
+    servo_infomation = "unknown"
+    servo_temperature = "unknown"
+    atom_version = "unknown"
+
+    if mc:
+        lock = acquire("/tmp/mycobot_lock")
+        cn = mc.is_controller_connected()
+        release(lock)
+        if cn == 1:
+            connect_status = True
+        time.sleep(0.1)
+        lock = acquire("/tmp/mycobot_lock")
+        si = mc.is_all_servo_enable()
+        release(lock)
+        if si == 1:
+            servo_infomation = "all connected"
+
+    print(
+        robot_msg % (connect_status, servo_infomation,
+                     servo_temperature, atom_version)
+    )
+
+
+if __name__ == "__main__":
+    # print(MyCobot.__dict__)
+    create_handle()
+    output_robot_message()
+    create_services()

mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py

@@ -13,7 +13,19 @@ import rospy
 import time
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 
 mc = None

mycobot_320/mycobot_320_moveit/scripts/sync_plan.py

@@ -5,7 +5,19 @@ import subprocess
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MAX_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot import MyCobot
 
 
 mc = None

mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py

@@ -8,7 +8,19 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 def talker():
@@ -19,7 +31,7 @@ def talker():
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
-        mycobot = MyCobot(port, baud)
+        mycobot = MyCobot320(port, baud)
     except Exception as e:
         print(e)
         print(

mycobot_320/new_mycobot_320/scripts/mycobot_320_gripper_slider.py

@@ -14,7 +14,19 @@ import time
 import math
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -45,7 +57,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py

@@ -13,7 +13,19 @@ import time
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -37,7 +49,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320/scripts/test.py

@@ -1,10 +1,22 @@
 # -*- coding: utf-8 -*-
-from pymycobot.mycobot import MyCobot
 from pymycobot.genre import Angle
 from pymycobot import PI_PORT, PI_BAUD  # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
 import time
+import pymycobot
+from packaging import version
 
-mc = MyCobot("/dev/ttyACM0", 115200)
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
+
+mc = MyCobot320("/dev/ttyACM0", 115200)
 # 通过传递角度参数，让机械臂每个关节移动到对应[0, 0, 0, 0, 0, 0]的位置
 mc.send_angles([0, 0, 0, 0, 0, 0], 50)
 

mycobot_320/new_mycobot_320_gripper_moveit/scripts/sync_plan.py

@@ -14,7 +14,19 @@ import time
 import math
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -45,7 +57,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py

@@ -6,7 +6,19 @@ import subprocess
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -30,7 +42,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
 
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_follow_display.py

@@ -7,7 +7,19 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 def talker():
@@ -18,7 +30,7 @@ def talker():
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
-        mycobot = MyCobot(port, baud)
+        mycobot = MyCobot320(port, baud)
     except Exception as e:
         print(e)
         print(

mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_gripper_slider.py

@@ -14,7 +14,19 @@ import time
 import math
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -45,7 +57,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_slider.py

@@ -14,7 +14,19 @@ import time
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -40,7 +52,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320_pi/scripts/test.py

@@ -1,10 +1,21 @@
 # -*- coding: utf-8 -*-
-from pymycobot.mycobot import MyCobot
 from pymycobot.genre import Angle
 from pymycobot import PI_PORT, PI_BAUD  # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
 import time
+import pymycobot
+from packaging import version
 
-mc = MyCobot("/dev/ttyUSB0", 115200)
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
+mc = MyCobot320("/dev/ttyUSB0", 115200)
 # 通过传递角度参数，让机械臂每个关节移动到对应[0, 0, 0, 0, 0, 0]的位置
 mc.send_angles([0, 0, 0, 0, 0, 0], 50)
 

mycobot_320/new_mycobot_320_pi_gripper_moveit/scripts/sync_plan.py

@@ -14,7 +14,19 @@ import time
 import math
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -45,7 +57,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)

mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py

@@ -6,7 +6,19 @@ import subprocess
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.mycobot import MyCobot
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.0'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None
@@ -30,7 +42,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA0")
     baud = rospy.get_param("~baud", 115200)
     # 115200
-    mc = MyCobot(port, baud)
+    mc = MyCobot320(port, baud)
     time.sleep(0.05)
     mc.set_fresh_mode(1)
     time.sleep(0.05)