mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
wangWking
GitHub
commit
8e3e8828d9
103 changed files with 7202 additions and 0 deletions
44
CobotX/cobotx_a450/CMakeLists.txt
Normal file
44
CobotX/cobotx_a450/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(cobotx_a450)
|
||||
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
|
||||
roscpp
|
||||
rospy
|
||||
std_msgs
|
||||
actionlib
|
||||
image_transport
|
||||
cv_bridge
|
||||
)
|
||||
|
||||
## Declare a catkin package
|
||||
catkin_package(
|
||||
CATKIN_DEPENDS std_msgs actionlib
|
||||
)
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|
||||
## Build talker and listener
|
||||
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
|
||||
|
||||
catkin_install_python(PROGRAMS
|
||||
scripts/follow_display.py
|
||||
scripts/slider_control.py
|
||||
scripts/teleop_keyboard.py
|
||||
scripts/listen_real.py
|
||||
scripts/listen_real_of_topic.py
|
||||
scripts/detect_marker.py
|
||||
scripts/following_marker.py
|
||||
scripts/follow_and_pump.py
|
||||
scripts/simple_gui.py
|
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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||||
)
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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})
|
||||
|
||||
# find_package(OpenCV REQUIRED)
|
||||
# add_executable(opencv_camera src/opencv_camera)
|
||||
# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
|
||||
# add_executable(camera_display src/camera_display)
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||||
# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
|
||||
25
CobotX/cobotx_a450/LICENSE
Executable file
25
CobotX/cobotx_a450/LICENSE
Executable 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.
|
||||
230
CobotX/cobotx_a450/config/cobotx_a450.rviz
Executable file
230
CobotX/cobotx_a450/config/cobotx_a450.rviz
Executable file
|
|
@ -0,0 +1,230 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Links1
|
||||
- /Axes1
|
||||
- /TF1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Alpha: 1
|
||||
Class: rviz/Axes
|
||||
Enabled: true
|
||||
Length: 0.10000000149011612
|
||||
Name: Axes
|
||||
Radius: 0.009999999776482582
|
||||
Reference Frame: <Fixed Frame>
|
||||
Show Trail: false
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base:
|
||||
Value: true
|
||||
joint1:
|
||||
Value: true
|
||||
joint2:
|
||||
Value: true
|
||||
joint3:
|
||||
Value: true
|
||||
joint4:
|
||||
Value: true
|
||||
joint5:
|
||||
Value: true
|
||||
joint6:
|
||||
Value: true
|
||||
joint7:
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 0.20000000298023224
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint7:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.78243088722229
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.6454010605812073
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 3.4754045009613037
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 906
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1848
|
||||
X: 72
|
||||
Y: 27
|
||||
216
CobotX/cobotx_a450/config/mycobot_with_marker.rviz
Executable file
216
CobotX/cobotx_a450/config/mycobot_with_marker.rviz
Executable file
|
|
@ -0,0 +1,216 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /TF1
|
||||
- /Marker1
|
||||
- /Marker1/Namespaces1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 775
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
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
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
basic_shapes:
|
||||
Value: true
|
||||
joint1:
|
||||
Value: true
|
||||
joint2:
|
||||
Value: true
|
||||
joint3:
|
||||
Value: true
|
||||
joint4:
|
||||
Value: true
|
||||
joint5:
|
||||
Value: true
|
||||
joint6:
|
||||
Value: true
|
||||
joint6_flange:
|
||||
Value: true
|
||||
Marker Scale: 0.300000012
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint6_flange:
|
||||
basic_shapes:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Marker
|
||||
Enabled: true
|
||||
Marker Topic: /visualization_marker
|
||||
Name: Marker
|
||||
Namespaces:
|
||||
basic_cube: true
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: joint1
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
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
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
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
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1056
|
||||
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
|
||||
18
CobotX/cobotx_a450/launch/detect_marker.launch
Executable file
18
CobotX/cobotx_a450/launch/detect_marker.launch
Executable file
|
|
@ -0,0 +1,18 @@
|
|||
<launch>
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find myarm)/config/mycobot_with_marker.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<arg name="num" default="0" />
|
||||
|
||||
<include file="$(find myarm)/launch/slider_control.launch">
|
||||
<arg name="model" value="$(arg model)" />
|
||||
<arg name="rvizconfig" value="$(arg rvizconfig)" />
|
||||
<arg name="gui" value="$(arg gui)" />
|
||||
</include>
|
||||
<!-- vision node -->
|
||||
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
|
||||
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
|
||||
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
|
||||
</launch>
|
||||
30
CobotX/cobotx_a450/launch/detect_marker_with_topic.launch
Executable file
30
CobotX/cobotx_a450/launch/detect_marker_with_topic.launch
Executable file
|
|
@ -0,0 +1,30 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyAMA0" />
|
||||
<arg name="baud" default="115200" />
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/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 ，将值合并到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 $(arg rvizconfig)" required="true" />
|
||||
|
||||
<!-- mycobot-topics ，mycobot-话题-->
|
||||
<include file="$(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 ，监听并发布真实的角度-->
|
||||
<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
|
||||
<!-- vision node -->
|
||||
<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
|
||||
<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
|
||||
<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
|
||||
</launch>
|
||||
13
CobotX/cobotx_a450/launch/mycobot_follow.launch
Executable file
13
CobotX/cobotx_a450/launch/mycobot_follow.launch
Executable file
|
|
@ -0,0 +1,13 @@
|
|||
<launch>
|
||||
<!-- Load URDF file,加载URDF文件 -->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
<!-- Combinejoin values to TF ，将值合并到TF-->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
|
||||
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
|
||||
</node>
|
||||
<!-- show in Rviza,显示在Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
23
CobotX/cobotx_a450/launch/simple_gui.launch
Executable file
23
CobotX/cobotx_a450/launch/simple_gui.launch
Executable file
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyAMA1" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF ,将值合并到TF-->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
|
||||
<node name="simple_gui" pkg="cobotx_a450" type="simple_gui.py" />
|
||||
</launch>
|
||||
24
CobotX/cobotx_a450/launch/slider_control.launch
Executable file
24
CobotX/cobotx_a450/launch/slider_control.launch
Executable file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
23
CobotX/cobotx_a450/launch/teleop_keyboard.launch
Executable file
23
CobotX/cobotx_a450/launch/teleop_keyboard.launch
Executable file
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyAMA1" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF ，将值合并到TF-->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<!-- listen and pub the real angles ，监听并发布真实角度-->
|
||||
<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
|
||||
</launch>
|
||||
17
CobotX/cobotx_a450/launch/test.launch
Executable file
17
CobotX/cobotx_a450/launch/test.launch
Executable file
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.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>
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
<!-- <node name="rviz" pkg="rviz" type="rviz" /> -->
|
||||
</launch>
|
||||
47
CobotX/cobotx_a450/package.xml
Normal file
47
CobotX/cobotx_a450/package.xml
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>cobotx_a450</name>
|
||||
<version>0.3.0</version>
|
||||
<description>The cobotx_a450 package</description>
|
||||
|
||||
<author email="weijian.wang@elephantrobotics.com">Wangweijian</author>
|
||||
<maintainer email="weijian.wang@elephantrobotics.com">Wangweijian</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>cobotx_a450_communication</build_depend>
|
||||
|
||||
<build_export_depend>cobotx_a450_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>cobotx_a450_communication</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
123
CobotX/cobotx_a450/scripts/detect_marker.py
Executable file
123
CobotX/cobotx_a450/scripts/detect_marker.py
Executable 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. 订阅者，监听是否有img
|
||||
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. 将 `rgb` 转换为 opencv 的 `gbr`。
|
||||
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.如果没有，则计算相机矩阵
|
||||
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.检测 aruco 标记
|
||||
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
|
||||
corners, ids = ret[0], ret[1]
|
||||
# process marker data.处理标记数据
|
||||
if len(corners) > 0:
|
||||
if ids is not None:
|
||||
# print('corners:', corners, 'ids:', ids)
|
||||
|
||||
# detect marker pose. 检测marker位姿。
|
||||
# argument:
|
||||
# marker corners,标记角
|
||||
# marker size (meter),标记尺寸（米）
|
||||
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.只需选择第一个检测到的标记。
|
||||
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. 为ros获取四元数
|
||||
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]，根据 [joint1] 变换姿势
|
||||
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()
|
||||
194
CobotX/cobotx_a450/scripts/follow_and_pump.py
Executable file
194
CobotX/cobotx_a450/scripts/follow_and_pump.py
Executable file
|
|
@ -0,0 +1,194 @@
|
|||
#!/usr/bin/env python2
|
||||
# coding:utf-8
|
||||
import rospy
|
||||
from visualization_msgs.msg import Marker
|
||||
import time
|
||||
import os
|
||||
|
||||
# Type of message communicated with mycobot，与 mycobot 通信的消息类型
|
||||
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
|
||||
|
||||
|
||||
rospy.init_node("gipper_subscriber", anonymous=True)
|
||||
|
||||
# Control the topic of mycobot, followed by angle, coordinates, gripper
|
||||
# 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)
|
||||
# 判断设备：ttyUSB*为M5；ttyACM*为wio，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)
|
||||
|
||||
# instantiate the message object，实例化消息对象
|
||||
angles = MycobotSetAngles()
|
||||
coords = MycobotSetCoords()
|
||||
pump = MycobotPumpStatus()
|
||||
|
||||
# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值
|
||||
x_offset = -20
|
||||
y_offset = 20
|
||||
z_offset = 110
|
||||
|
||||
# With this variable limit, the fetching behavior is only done once
|
||||
# 通过该变量限制，抓取行为只做一次
|
||||
flag = False
|
||||
|
||||
# In order to compare whether the QR code moves later,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):
|
||||
"""Post coordinates,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):
|
||||
"""Publishing angle,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):
|
||||
"""Publish gripper status,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):
|
||||
"""Determine whether the target moves"""
|
||||
"""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):
|
||||
"""callback function,回调函数"""
|
||||
global flag, temp_x, temp_y, temp_z
|
||||
# rospy.loginfo('gripper_subscriber get date :%s', data)
|
||||
if flag:
|
||||
return
|
||||
|
||||
# Parse out the coordinate value,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"))
|
||||
|
||||
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
|
||||
# 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: #Indicates that the target is stationary and can try to grab, 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,subscribers to mark information
|
||||
rospy.Subscriber("visualization_marker", Marker,
|
||||
grippercallback, queue_size=1)
|
||||
|
||||
print("gripper test")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
105
CobotX/cobotx_a450/scripts/follow_display.py
Executable file
105
CobotX/cobotx_a450/scripts/follow_display.py
Executable file
|
|
@ -0,0 +1,105 @@
|
|||
#!/usr/bin/env python3
|
||||
import time
|
||||
import math
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
|
||||
from pymycobot.cobotx import CobotX
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("display", anonymous=True)
|
||||
|
||||
print("Try connect real CobotX...")
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA1")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print("port: {}, baud: {}\n".format(port, baud))
|
||||
try:
|
||||
mc = CobotX(port, baud)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print(
|
||||
"""\
|
||||
\rTry connect CobotX failed!
|
||||
\rPlease check wether connected with CobotX.
|
||||
\rPlease chckt wether the port or baud is right.
|
||||
"""
|
||||
)
|
||||
exit(1)
|
||||
mc.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 = [
|
||||
"joint1_to_base",
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint7_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/base"
|
||||
marker_.ns = "my_namespace"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
angles = mc.get_angles()
|
||||
data_list = []
|
||||
for index, value in enumerate(angles):
|
||||
radians = math.radians(value)
|
||||
data_list.append(radians)
|
||||
|
||||
# rospy.loginfo('{}'.format(data_list))
|
||||
joint_state_send.position = data_list
|
||||
|
||||
pub.publish(joint_state_send)
|
||||
|
||||
coords = mc.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.标记位置初始
|
||||
# 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
CobotX/cobotx_a450/scripts/following_marker.py
Executable file
64
CobotX/cobotx_a450/scripts/following_marker.py
Executable 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 = "/base"
|
||||
marker_.ns = "basic_cube"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
now = rospy.Time.now() - rospy.Duration(0.1)
|
||||
|
||||
try:
|
||||
trans, rot = listener.lookupTransform("base", "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,标记位置初始化
|
||||
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
|
||||
68
CobotX/cobotx_a450/scripts/listen_real.py
Executable file
68
CobotX/cobotx_a450/scripts/listen_real.py
Executable file
|
|
@ -0,0 +1,68 @@
|
|||
#!/usr/bin/env python3
|
||||
# encoding:utf-8
|
||||
# license removed for brevity
|
||||
import time
|
||||
import math
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from cobotx_a450_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，发布关节状态
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint1_to_base",
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint7_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
# waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用
|
||||
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.从服务器获得真实的角度。
|
||||
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),
|
||||
res.joint_7 * (math.pi / 180),
|
||||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
# publish angles.发布角度
|
||||
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
|
||||
66
CobotX/cobotx_a450/scripts/listen_real_of_topic.py
Executable file
66
CobotX/cobotx_a450/scripts/listen_real_of_topic.py
Executable file
|
|
@ -0,0 +1,66 @@
|
|||
#!/usr/bin/env python3
|
||||
# encoding:utf-8
|
||||
|
||||
import math
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from cobotx_a450_communication.msg import CobotXAngles
|
||||
|
||||
|
||||
class Listener(object):
|
||||
def __init__(self):
|
||||
super(Listener, self).__init__()
|
||||
|
||||
rospy.loginfo("start ...")
|
||||
rospy.init_node("real_listener_1", anonymous=True)
|
||||
# init publisher.初始化发布者
|
||||
self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
# init subscriber.初始化订阅者
|
||||
self.sub = rospy.Subscriber("myarm/angles_real", CobotXAngles, self.callback)
|
||||
rospy.spin()
|
||||
|
||||
def callback(self, data):
|
||||
"""`cobotx/angles_real` subscriber callback method.
|
||||
|
||||
Args:
|
||||
data (CobotXAngles): callback argument.
|
||||
"""
|
||||
# ini publisher object. 初始化发布者对象
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint1_to_base",
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint7_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
# process callback data. 处理回调数据。
|
||||
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),
|
||||
data.joint_7 * (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
|
||||
501
CobotX/cobotx_a450/scripts/simple_gui.py
Executable file
501
CobotX/cobotx_a450/scripts/simple_gui.py
Executable file
|
|
@ -0,0 +1,501 @@
|
|||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
try:
|
||||
import tkinter as tk
|
||||
except ImportError:
|
||||
import Tkinter as tk
|
||||
from cobotx_a450_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) # fixed window size，固定窗口大小
|
||||
|
||||
self.model = 0
|
||||
self.speed = rospy.get_param("~speed", 50)
|
||||
|
||||
# set default speed，设置默认速度
|
||||
self.speed_d = tk.StringVar()
|
||||
self.speed_d.set(str(self.speed))
|
||||
# print(self.speed)
|
||||
self.connect_ser()
|
||||
|
||||
# Get the data of the robotic arm，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.获取屏幕宽度和高度
|
||||
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
|
||||
# 计算 Tk 根窗口的 x 和 y 坐标
|
||||
x = int((self.ws / 2) - 190)
|
||||
y = int((self.hs / 2) - 250)
|
||||
self.win.geometry("430x450+{}+{}".format(x, y))
|
||||
# layout,布局
|
||||
self.set_layout()
|
||||
# input section,输入部分
|
||||
self.need_input()
|
||||
# Show part,展示部分
|
||||
self.show_init()
|
||||
|
||||
# Set the joint buttons 设置joint按钮
|
||||
tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
|
||||
row=7, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# coordination settings button,coordination 设置按钮
|
||||
tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
|
||||
row=7, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
# Gripper switch button,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):
|
||||
# input hint,输入提示
|
||||
tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,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.frmLT, text="Joint 7 ").grid(row=6)
|
||||
|
||||
tk.Label(self.frmRT, text=" x ").grid(row=0)
|
||||
tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,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)
|
||||
|
||||
# Set the default value of the input box,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.j7_default = tk.StringVar()
|
||||
self.j7_default.set(self.res_angles[6])
|
||||
|
||||
|
||||
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 input box,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)
|
||||
self.J_7 = tk.Entry(self.frmLT, textvariable=self.j7_default)
|
||||
self.J_7.grid(row=6, column=1, pady=3)
|
||||
|
||||
# coord input box,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)
|
||||
|
||||
# All input boxes, used to get the input data,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.J_7]
|
||||
self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]
|
||||
|
||||
# speed input box,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):
|
||||
# show,显示
|
||||
tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
|
||||
tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,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)
|
||||
tk.Label(self.frmLC, text="Joint 7 ").grid(row=6)
|
||||
|
||||
# get数据
|
||||
|
||||
# show,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_7 = tk.StringVar(self.frmLC)
|
||||
self.cont_7.set(str(self.res_angles[6]) + "°")
|
||||
self.cont_all = [
|
||||
self.cont_1,
|
||||
self.cont_2,
|
||||
self.cont_3,
|
||||
self.cont_4,
|
||||
self.cont_5,
|
||||
self.cont_6,
|
||||
self.cont_7,
|
||||
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.show_j7 = tk.Label(
|
||||
self.frmLC,
|
||||
textvariable=self.cont_7,
|
||||
font=("Arial", 9),
|
||||
width=7,
|
||||
height=1,
|
||||
bg="white",
|
||||
).grid(row=6, 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,
|
||||
self.show_j7,
|
||||
]
|
||||
|
||||
# show,显示
|
||||
tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
|
||||
tk.Label(self.frmLC, text=" y ").grid(row=1, column=3)
|
||||
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， Unit show，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:
|
||||
# Probably because the method has no return value, the service throws an unhandled error
|
||||
# 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):
|
||||
# Get the data input by coord and send it to the robotic arm
|
||||
# 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):
|
||||
# Get the data input by the joint and send it to the robotic arm
|
||||
# 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):
|
||||
# Take the data of the robotic arm for display.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),
|
||||
round(self.angles.joint_7, 2),
|
||||
]
|
||||
# print('coord:',self.record_coords)
|
||||
# print('angles:',self.res_angles)
|
||||
|
||||
# def send_input(self,dates):
|
||||
def show_j_date(self, date, way=""):
|
||||
# Show data,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("CobotX ros GUI")
|
||||
Window(window).run()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
51
CobotX/cobotx_a450/scripts/slider_control.py
Executable file
51
CobotX/cobotx_a450/scripts/slider_control.py
Executable file
|
|
@ -0,0 +1,51 @@
|
|||
#!/usr/bin/env python3
|
||||
|
||||
"""[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/ttyAMA1'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
import math
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.cobotx import CobotX
|
||||
|
||||
|
||||
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):
|
||||
radians_to_angles = math.degrees(value)
|
||||
data_list.append(radians_to_angles)
|
||||
|
||||
# mc.send_radians(data_list, 80)
|
||||
mc.send_angles(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/ttyAMA1")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = CobotX(port, baud)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
# spin()只是阻止python退出，直到该节点停止
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
179
CobotX/cobotx_a450/scripts/teleop_keyboard.py
Executable file
179
CobotX/cobotx_a450/scripts/teleop_keyboard.py
Executable file
|
|
@ -0,0 +1,179 @@
|
|||
#!/usr/bin/env python3
|
||||
from __future__ import print_function
|
||||
from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
import rospy
|
||||
import sys
|
||||
import select
|
||||
import termios
|
||||
import tty
|
||||
import time
|
||||
|
||||
import roslib
|
||||
|
||||
# Terminal output prompt information. 终端输出提示信息
|
||||
msg = """\
|
||||
CobotX 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 = 1
|
||||
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, 0, speed]
|
||||
home_pose = [0, 0, 0, -90, 0, 90, 0, speed]
|
||||
|
||||
rsp = set_angles(*home_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('init_coords:', record_coords)
|
||||
|
||||
try:
|
||||
print(msg)
|
||||
print(vels(speed, change_percent))
|
||||
# Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
|
||||
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)
|
||||
time.sleep(3)
|
||||
res = get_coords()
|
||||
time.sleep(0.1)
|
||||
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
|
||||
print('home_coords:', record_coords)
|
||||
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
CobotX/cobotx_a450/src/camera_display.cpp
Normal file
29
CobotX/cobotx_a450/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");
|
||||
}
|
||||
60
CobotX/cobotx_a450/src/opencv_camera.cpp
Normal file
60
CobotX/cobotx_a450/src/opencv_camera.cpp
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
#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,用于将命令行参数转换为整数
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
// Check if video source has been passed as a parameter,检查视频源是否已作为参数传递
|
||||
if (argv[1] == NULL)
|
||||
{
|
||||
ROS_INFO("argv[1]=NULL\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点
|
||||
ros::NodeHandle nh;
|
||||
image_transport::ImageTransport it(nh);
|
||||
image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题
|
||||
|
||||
ros::Rate loop_rate(200); // refresh Hz.
|
||||
|
||||
// Convert the passed as command line parameter index for the video device to an integer，
|
||||
// 将作为命令行参数传递的视频设备索引转换为整数
|
||||
std::istringstream video_sourceCmd(argv[1]);
|
||||
int video_source;
|
||||
// Check if it is indeed a number，检查它是否确实是一个数字
|
||||
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，检查是否可以使用给定的索引打开视频设备
|
||||
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，检查抓取的帧是否实际上充满了一些内容
|
||||
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;
|
||||
}
|
||||
}
|
||||
216
CobotX/cobotx_a450_communication/CMakeLists.txt
Executable file
216
CobotX/cobotx_a450_communication/CMakeLists.txt
Executable file
|
|
@ -0,0 +1,216 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(cobotx_a450_communication)
|
||||
add_compile_options(-std=c++11)
|
||||
|
||||
## Compile as C++11, supported in ROS Kinetic and newer
|
||||
# add_compile_options(-std=c++11)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
rospy
|
||||
std_msgs
|
||||
genmsg
|
||||
message_generation
|
||||
)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
|
||||
|
||||
## Uncomment this if the package has a setup.py. This macro ensures
|
||||
## modules and global scripts declared therein get installed
|
||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||
# catkin_python_setup()
|
||||
|
||||
################################################
|
||||
## Declare ROS messages, services and actions ##
|
||||
################################################
|
||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
|
||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||
## but can be declared for certainty nonetheless:
|
||||
## * add a exec_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
|
||||
## * uncomment the add_*_files sections below as needed
|
||||
## and list every .msg/.srv/.action file to be processed
|
||||
## * uncomment the generate_messages entry below
|
||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||
|
||||
## Generate messages in the 'msg' folder
|
||||
add_message_files(FILES
|
||||
CobotXAngles.msg
|
||||
CobotXCoords.msg
|
||||
CobotXSetAngles.msg
|
||||
CobotXSetCoords.msg
|
||||
CobotXGripperStatus.msg
|
||||
CobotXPumpStatus.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
add_service_files(FILES
|
||||
GetAngles.srv
|
||||
SetAngles.srv
|
||||
GetCoords.srv
|
||||
SetCoords.srv
|
||||
GripperStatus.srv
|
||||
PumpStatus.srv
|
||||
)
|
||||
|
||||
## Generate added messages and services
|
||||
generate_messages(DEPENDENCIES std_msgs)
|
||||
|
||||
## Generate actions in the 'action' folder
|
||||
# add_action_files(
|
||||
# FILES
|
||||
# Action1.action
|
||||
# Action2.action
|
||||
# )
|
||||
|
||||
## Generate added messages and services with any dependencies listed here
|
||||
# generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs # Or other packages containing msgs
|
||||
# )
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
## Declare a catkin package
|
||||
catkin_package(
|
||||
CATKIN_DEPENDS message_runtime std_msgs
|
||||
)
|
||||
|
||||
###########
|
||||
## Build ##
|
||||
###########
|
||||
|
||||
## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
include_directories(
|
||||
# include
|
||||
# ${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
## Declare a C++ library
|
||||
# add_library(${PROJECT_NAME}
|
||||
# src/${PROJECT_NAME}/mycobot_commuication.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Declare a C++ executable
|
||||
## With catkin_make all packages are built within a single CMake context
|
||||
## The recommended prefix ensures that target names across packages don't collide
|
||||
# add_executable(${PROJECT_NAME}_node src/mycobot_commuication_node.cpp)
|
||||
|
||||
## Rename C++ executable without prefix
|
||||
## The above recommended prefix causes long target names, the following renames the
|
||||
## target back to the shorter version for ease of user use
|
||||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||
|
||||
## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
catkin_install_python(PROGRAMS
|
||||
scripts/cobotx_services.py
|
||||
scripts/cobotx_topics.py
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||
# install(TARGETS ${PROJECT_NAME}_node
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_commuication.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
25
CobotX/cobotx_a450_communication/LICENSE
Executable file
25
CobotX/cobotx_a450_communication/LICENSE
Executable 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.
|
||||
11
CobotX/cobotx_a450_communication/launch/communication_jsnn.launch
Executable file
11
CobotX/cobotx_a450_communication/launch/communication_jsnn.launch
Executable file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyTHS1" />
|
||||
<arg name="baud" default="1000000" />
|
||||
|
||||
<!-- Open communication service ，开启通讯服务-->
|
||||
<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_services.py" output="screen">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
11
CobotX/cobotx_a450_communication/launch/communication_seeed.launch
Executable file
11
CobotX/cobotx_a450_communication/launch/communication_seeed.launch
Executable file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<!-- Open communication service ，开启通讯服务-->
|
||||
<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics_seeed.py" output="screen">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
13
CobotX/cobotx_a450_communication/launch/communication_service.launch
Executable file
13
CobotX/cobotx_a450_communication/launch/communication_service.launch
Executable file
|
|
@ -0,0 +1,13 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
|
||||
<arg name="port" default="/dev/ttyAMA1" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
|
||||
<!-- Open communication service ，开启通讯服务-->
|
||||
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_services.py" output="screen">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
11
CobotX/cobotx_a450_communication/launch/communication_topic.launch
Executable file
11
CobotX/cobotx_a450_communication/launch/communication_topic.launch
Executable file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyAMA1" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<!-- Open communication service，开启通讯服务 -->
|
||||
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics.py" output="screen">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
11
CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch
Executable file
11
CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch
Executable file
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyAMA1" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<!-- Open communication service --><!-- 开启通讯服务 -->
|
||||
<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics_pi.py" output="screen">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
7
CobotX/cobotx_a450_communication/msg/CobotXAngles.msg
Executable file
7
CobotX/cobotx_a450_communication/msg/CobotXAngles.msg
Executable file
|
|
@ -0,0 +1,7 @@
|
|||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
float32 joint_4
|
||||
float32 joint_5
|
||||
float32 joint_6
|
||||
float32 joint_7
|
||||
6
CobotX/cobotx_a450_communication/msg/CobotXCoords.msg
Executable file
6
CobotX/cobotx_a450_communication/msg/CobotXCoords.msg
Executable file
|
|
@ -0,0 +1,6 @@
|
|||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 rx
|
||||
float32 ry
|
||||
float32 rz
|
||||
1
CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg
Executable file
1
CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg
Executable file
|
|
@ -0,0 +1 @@
|
|||
bool Status
|
||||
3
CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg
Executable file
3
CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg
Executable file
|
|
@ -0,0 +1,3 @@
|
|||
bool Status
|
||||
int8 Pin1
|
||||
int8 Pin2
|
||||
9
CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg
Executable file
9
CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg
Executable file
|
|
@ -0,0 +1,9 @@
|
|||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
float32 joint_4
|
||||
float32 joint_5
|
||||
float32 joint_6
|
||||
float32 joint_7
|
||||
|
||||
int8 speed
|
||||
9
CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg
Executable file
9
CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg
Executable file
|
|
@ -0,0 +1,9 @@
|
|||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 rx
|
||||
float32 ry
|
||||
float32 rz
|
||||
|
||||
int8 speed
|
||||
int8 model
|
||||
66
CobotX/cobotx_a450_communication/package.xml
Executable file
66
CobotX/cobotx_a450_communication/package.xml
Executable file
|
|
@ -0,0 +1,66 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>cobotx_a450_communication</name>
|
||||
<version>0.1.0</version>
|
||||
<description>The cobotx_a450_communication package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="lijun.zhang@elephantrobotics.com">wangweijian</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>BSD</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/mycobot_commuication</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
211
CobotX/cobotx_a450_communication/scripts/cobotx_services.py
Executable file
211
CobotX/cobotx_a450_communication/scripts/cobotx_services.py
Executable file
|
|
@ -0,0 +1,211 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*
|
||||
import time
|
||||
import rospy
|
||||
import os
|
||||
import fcntl
|
||||
from cobotx_a450_communication.srv import *
|
||||
|
||||
from pymycobot.cobotx import CobotX
|
||||
|
||||
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("cobotx")
|
||||
rospy.loginfo("start ...")
|
||||
port = rospy.get_param("~port")
|
||||
baud = rospy.get_param("~baud")
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
mc = CobotX(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,
|
||||
req.joint_7,
|
||||
]
|
||||
sp = req.speed
|
||||
|
||||
if mc:
|
||||
lock = acquire("/tmp/cobotx_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/cobotx_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/cobotx_lock")
|
||||
mc.send_coords(coords, sp, mod)
|
||||
release(lock)
|
||||
|
||||
return SetCoordsResponse(True)
|
||||
|
||||
|
||||
def get_coords(req):
|
||||
if mc:
|
||||
lock = acquire("/tmp/cobotx_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/cobotx_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/cobotx_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 = """
|
||||
Cobotx Status
|
||||
--------------------------------
|
||||
Joint Limit:
|
||||
joint 1: -165 ~ +165
|
||||
joint 2: -100 ~ +100
|
||||
joint 3: -165 ~ +165
|
||||
joint 4: -175 ~ +4
|
||||
joint 5: -165 ~ +165
|
||||
joint 6: -1 ~ +180
|
||||
joint 7: -165 ~ +165
|
||||
|
||||
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/cobotx_lock")
|
||||
cn = mc.is_controller_connected()
|
||||
release(lock)
|
||||
if cn == 1:
|
||||
connect_status = True
|
||||
time.sleep(0.1)
|
||||
lock = acquire("/tmp/cobotx_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(MyArm.__dict__)
|
||||
create_handle()
|
||||
output_robot_message()
|
||||
create_services()
|
||||
221
CobotX/cobotx_a450_communication/scripts/cobotx_topics.py
Executable file
221
CobotX/cobotx_a450_communication/scripts/cobotx_topics.py
Executable file
|
|
@ -0,0 +1,221 @@
|
|||
#!/usr/bin/env python2
|
||||
# -*- coding:utf-8 -*-
|
||||
import time
|
||||
import os
|
||||
import sys
|
||||
import signal
|
||||
import threading
|
||||
|
||||
import rospy
|
||||
|
||||
from cobotx_a450_communication.msg import (
|
||||
CobotXAngles,
|
||||
CobotXCoords,
|
||||
CobotXSetAngles,
|
||||
CobotXSetCoords,
|
||||
CobotXGripperStatus,
|
||||
CobotXPumpStatus,
|
||||
)
|
||||
|
||||
from pymycobot.cobotx import CobotX
|
||||
|
||||
|
||||
class Watcher:
|
||||
"""this class solves two problems with multithreaded
|
||||
programs in Python, (1) a signal might be delivered
|
||||
to any thread (which is just a malfeature) and (2) if
|
||||
the thread that gets the signal is waiting, the signal
|
||||
is ignored (which is a bug).
|
||||
|
||||
The watcher is a concurrent process (not thread) that
|
||||
waits for a signal and the process that contains the
|
||||
threads. See Appendix A of The Little Book of Semaphores.
|
||||
http://greenteapress.com/semaphores/
|
||||
|
||||
I have only tested this on Linux. I would expect it to
|
||||
work on the Macintosh and not work on Windows.
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
"""Creates a child thread, which returns. The parent
|
||||
thread waits for a KeyboardInterrupt and then kills
|
||||
the child thread.
|
||||
"""
|
||||
self.child = os.fork()
|
||||
if self.child == 0:
|
||||
return
|
||||
else:
|
||||
self.watch()
|
||||
|
||||
def watch(self):
|
||||
try:
|
||||
os.wait()
|
||||
except KeyboardInterrupt:
|
||||
# I put the capital B in KeyBoardInterrupt so I can
|
||||
# tell when the Watcher gets the SIGINT
|
||||
print("KeyBoardInterrupt")
|
||||
self.kill()
|
||||
sys.exit()
|
||||
|
||||
def kill(self):
|
||||
try:
|
||||
os.kill(self.child, signal.SIGKILL)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
|
||||
class CobotXTopics(object):
|
||||
def __init__(self):
|
||||
super(CobotXTopics, self).__init__()
|
||||
|
||||
rospy.init_node("cobotx_topics")
|
||||
rospy.loginfo("start ...")
|
||||
# port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA1")
|
||||
if not port:
|
||||
port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
self.mc = CobotX(port, baud)
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
pa = threading.Thread(target=self.pub_real_angles)
|
||||
pb = threading.Thread(target=self.pub_real_coords)
|
||||
sa = threading.Thread(target=self.sub_set_angles)
|
||||
sb = threading.Thread(target=self.sub_set_coords)
|
||||
sg = threading.Thread(target=self.sub_gripper_status)
|
||||
sp = threading.Thread(target=self.sub_pump_status)
|
||||
|
||||
pa.setDaemon(True)
|
||||
pa.start()
|
||||
pb.setDaemon(True)
|
||||
pb.start()
|
||||
sa.setDaemon(True)
|
||||
sa.start()
|
||||
sb.setDaemon(True)
|
||||
sb.start()
|
||||
sg.setDaemon(True)
|
||||
sg.start()
|
||||
sp.setDaemon(True)
|
||||
sp.start()
|
||||
|
||||
pa.join()
|
||||
pb.join()
|
||||
sa.join()
|
||||
sb.join()
|
||||
sg.join()
|
||||
sp.join()
|
||||
|
||||
def pub_real_angles(self):
|
||||
"""Publish real angle"""
|
||||
"""发布真实角度"""
|
||||
pub = rospy.Publisher("cobotx/angles_real",
|
||||
CobotXAngles, queue_size=5)
|
||||
ma = CobotXAngles()
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
angles = self.mc.get_angles()
|
||||
self.lock.release()
|
||||
if angles:
|
||||
ma.joint_1 = angles[0]
|
||||
ma.joint_2 = angles[1]
|
||||
ma.joint_3 = angles[2]
|
||||
ma.joint_4 = angles[3]
|
||||
ma.joint_5 = angles[4]
|
||||
ma.joint_6 = angles[5]
|
||||
ma.joint_7 = angles[6]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def pub_real_coords(self):
|
||||
"""publish real coordinates"""
|
||||
"""发布真实坐标"""
|
||||
pub = rospy.Publisher("cobotx/coords_real",
|
||||
CobotXCoords, queue_size=5)
|
||||
ma = CobotXCoords()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
coords = self.mc.get_coords()
|
||||
self.lock.release()
|
||||
if coords:
|
||||
ma.x = coords[0]
|
||||
ma.y = coords[1]
|
||||
ma.z = coords[2]
|
||||
ma.rx = coords[3]
|
||||
ma.ry = coords[4]
|
||||
ma.rz = coords[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def sub_set_angles(self):
|
||||
"""subscription angles"""
|
||||
"""订阅角度"""
|
||||
def callback(data):
|
||||
angles = [
|
||||
data.joint_1,
|
||||
data.joint_2,
|
||||
data.joint_3,
|
||||
data.joint_4,
|
||||
data.joint_5,
|
||||
data.joint_6,
|
||||
data.joint_7,
|
||||
]
|
||||
sp = int(data.speed)
|
||||
self.mc.send_angles(angles, sp)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/angles_goal", CobotXSetAngles, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_set_coords(self):
|
||||
def callback(data):
|
||||
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
|
||||
sp = int(data.speed)
|
||||
model = int(data.model)
|
||||
self.mc.send_coords(angles, sp, model)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/coords_goal", CobotXSetCoords, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_gripper_status(self):
|
||||
"""Subscribe to Gripper Status"""
|
||||
"""订阅夹爪状态"""
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_gripper_state(0, 80)
|
||||
else:
|
||||
self.mc.set_gripper_state(1, 80)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/gripper_status", CobotXGripperStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_pump_status(self):
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_basic_output(data.Pin1, 0)
|
||||
self.mc.set_basic_output(data.Pin2, 0)
|
||||
else:
|
||||
self.mc.set_basic_output(data.Pin1, 1)
|
||||
self.mc.set_basic_output(data.Pin2, 1)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/pump_status", CobotXPumpStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
Watcher()
|
||||
mc_topics = CobotXTopics()
|
||||
mc_topics.start()
|
||||
# while True:
|
||||
# mc_topics.pub_real_coords()
|
||||
# mc_topics.sub_set_angles()
|
||||
pass
|
||||
224
CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py
Executable file
224
CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py
Executable file
|
|
@ -0,0 +1,224 @@
|
|||
#!/usr/bin/env python2
|
||||
# -*- coding:utf-8 -*-
|
||||
import time
|
||||
import os
|
||||
import sys
|
||||
import signal
|
||||
import threading
|
||||
|
||||
import rospy
|
||||
|
||||
from mycobot_communication.msg import (
|
||||
MycobotAngles,
|
||||
MycobotCoords,
|
||||
MycobotSetAngles,
|
||||
MycobotSetCoords,
|
||||
MycobotGripperStatus,
|
||||
MycobotPumpStatus,
|
||||
)
|
||||
|
||||
|
||||
# from pymycobot import MyCobot
|
||||
|
||||
from pymycobot import MyCobotSocket # pi
|
||||
|
||||
|
||||
class Watcher:
|
||||
"""this class solves two problems with multithreaded
|
||||
programs in Python, (1) a signal might be delivered
|
||||
to any thread (which is just a malfeature) and (2) if
|
||||
the thread that gets the signal is waiting, the signal
|
||||
is ignored (which is a bug).
|
||||
|
||||
The watcher is a concurrent process (not thread) that
|
||||
waits for a signal and the process that contains the
|
||||
threads. See Appendix A of The Little Book of Semaphores.
|
||||
http://greenteapress.com/semaphores/
|
||||
|
||||
I have only tested this on Linux. I would expect it to
|
||||
work on the Macintosh and not work on Windows.
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
"""Creates a child thread, which returns. The parent
|
||||
thread waits for a KeyboardInterrupt and then kills
|
||||
the child thread.
|
||||
"""
|
||||
self.child = os.fork()
|
||||
if self.child == 0:
|
||||
return
|
||||
else:
|
||||
self.watch()
|
||||
|
||||
def watch(self):
|
||||
try:
|
||||
os.wait()
|
||||
except KeyboardInterrupt:
|
||||
# I put the capital B in KeyBoardInterrupt so I can#
|
||||
# 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了
|
||||
# tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT
|
||||
print("KeyBoardInterrupt")
|
||||
self.kill()
|
||||
sys.exit()
|
||||
|
||||
def kill(self):
|
||||
try:
|
||||
os.kill(self.child, signal.SIGKILL)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
|
||||
class MycobotTopics(object):
|
||||
def __init__(self):
|
||||
super(MycobotTopics, self).__init__()
|
||||
|
||||
rospy.init_node("mycobot_topics")
|
||||
rospy.loginfo("start ...")
|
||||
# Select connected device，选择连接设备
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA0")
|
||||
baud = rospy.get_param("~baud", 1000000)
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
# self.mc = MyCobot(port,baud)
|
||||
self.mc = MyCobotSocket(port, baud) # port
|
||||
self.mc.connect()
|
||||
|
||||
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
pa = threading.Thread(target=self.pub_real_angles)
|
||||
pb = threading.Thread(target=self.pub_real_coords)
|
||||
sa = threading.Thread(target=self.sub_set_angles)
|
||||
sb = threading.Thread(target=self.sub_set_coords)
|
||||
sg = threading.Thread(target=self.sub_gripper_status)
|
||||
sp = threading.Thread(target=self.sub_pump_status)
|
||||
|
||||
pa.setDaemon(True)
|
||||
pa.start()
|
||||
pb.setDaemon(True)
|
||||
pb.start()
|
||||
sa.setDaemon(True)
|
||||
sa.start()
|
||||
sb.setDaemon(True)
|
||||
sb.start()
|
||||
sg.setDaemon(True)
|
||||
sg.start()
|
||||
sp.setDaemon(True)
|
||||
sp.start()
|
||||
|
||||
pa.join()
|
||||
pb.join()
|
||||
sa.join()
|
||||
sb.join()
|
||||
sg.join()
|
||||
sp.join()
|
||||
|
||||
def pub_real_angles(self):
|
||||
"""Publish real angle"""
|
||||
"""发布真实角度"""
|
||||
pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5)
|
||||
ma = MycobotAngles()
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
angles = self.mc.get_angles()
|
||||
self.lock.release()
|
||||
if angles:
|
||||
ma.joint_1 = angles[0]
|
||||
ma.joint_2 = angles[1]
|
||||
ma.joint_3 = angles[2]
|
||||
ma.joint_4 = angles[3]
|
||||
ma.joint_5 = angles[4]
|
||||
ma.joint_6 = angles[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def pub_real_coords(self):
|
||||
"""publish real coordinates"""
|
||||
"""发布真实坐标"""
|
||||
pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5)
|
||||
ma = MycobotCoords()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
coords = self.mc.get_coords()
|
||||
self.lock.release()
|
||||
if coords:
|
||||
ma.x = coords[0]
|
||||
ma.y = coords[1]
|
||||
ma.z = coords[2]
|
||||
ma.rx = coords[3]
|
||||
ma.ry = coords[4]
|
||||
ma.rz = coords[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def sub_set_angles(self):
|
||||
"""subscription angles"""
|
||||
"""订阅角度"""
|
||||
def callback(data):
|
||||
angles = [
|
||||
data.joint_1,
|
||||
data.joint_2,
|
||||
data.joint_3,
|
||||
data.joint_4,
|
||||
data.joint_5,
|
||||
data.joint_6,
|
||||
]
|
||||
sp = int(data.speed)
|
||||
self.mc.send_angles(angles, sp)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/angles_goal", MycobotSetAngles, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_set_coords(self):
|
||||
"""Subscribe to coordinates"""
|
||||
"""订阅坐标"""
|
||||
def callback(data):
|
||||
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
|
||||
sp = int(data.speed)
|
||||
model = int(data.model)
|
||||
self.mc.send_coords(angles, sp, model)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/coords_goal", MycobotSetCoords, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_gripper_status(self):
|
||||
"""Subscribe to Gripper Status"""
|
||||
"""订阅夹爪状态"""
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_gripper_state(0, 80)
|
||||
else:
|
||||
self.mc.set_gripper_state(1, 80)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_pump_status(self):
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_basic_output(data.Pin1, 0)
|
||||
self.mc.set_basic_output(data.Pin2, 0)
|
||||
else:
|
||||
self.mc.set_basic_output(data.Pin1, 1)
|
||||
self.mc.set_basic_output(data.Pin2, 1)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/pump_status", MycobotPumpStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
if __name__ == "__main__":
|
||||
Watcher()
|
||||
mc_topics = MycobotTopics()
|
||||
mc_topics.start()
|
||||
# while True:
|
||||
# mc_topics.pub_real_coords()
|
||||
# mc_topics.sub_set_angles()
|
||||
pass
|
||||
219
CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py
Executable file
219
CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py
Executable file
|
|
@ -0,0 +1,219 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding:utf-8 -*-
|
||||
import time
|
||||
import os
|
||||
import sys
|
||||
import signal
|
||||
import threading
|
||||
|
||||
import rospy
|
||||
|
||||
from cobotx_a450_communication.msg import (
|
||||
CobotXAngles,
|
||||
CobotXCoords,
|
||||
CobotXSetAngles,
|
||||
CobotXSetCoords,
|
||||
CobotXGripperStatus,
|
||||
CobotXPumpStatus,
|
||||
)
|
||||
|
||||
|
||||
from pymycobot import CobotX
|
||||
|
||||
|
||||
class Watcher:
|
||||
"""this class solves two problems with multithreaded
|
||||
programs in Python, (1) a signal might be delivered
|
||||
to any thread (which is just a malfeature) and (2) if
|
||||
the thread that gets the signal is waiting, the signal
|
||||
is ignored (which is a bug).
|
||||
|
||||
The watcher is a concurrent process (not thread) that
|
||||
waits for a signal and the process that contains the
|
||||
threads. See Appendix A of The Little Book of Semaphores.
|
||||
http://greenteapress.com/semaphores/
|
||||
|
||||
I have only tested this on Linux. I would expect it to
|
||||
work on the Macintosh and not work on Windows.
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
"""Creates a child thread, which returns. The parent
|
||||
thread waits for a KeyboardInterrupt and then kills
|
||||
the child thread.创建一个返回的子线程。 父线程等待 KeyboardInterrupt
|
||||
然后杀死子线程。
|
||||
"""
|
||||
self.child = os.fork()
|
||||
if self.child == 0:
|
||||
return
|
||||
else:
|
||||
self.watch()
|
||||
|
||||
def watch(self):
|
||||
try:
|
||||
os.wait()
|
||||
except KeyboardInterrupt:
|
||||
# I put the capital B in KeyBoardInterrupt so I can
|
||||
# tell when the Watcher gets the SIGINT
|
||||
print("KeyBoardInterrupt")
|
||||
self.kill()
|
||||
sys.exit()
|
||||
|
||||
def kill(self):
|
||||
try:
|
||||
os.kill(self.child, signal.SIGKILL)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
|
||||
class CobotXTopics(object):
|
||||
def __init__(self):
|
||||
super(CobotXTopics, self).__init__()
|
||||
|
||||
rospy.init_node("cobotx_topics_pi")
|
||||
rospy.loginfo("start ...")
|
||||
# problem
|
||||
# port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA1")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
self.mc = CobotX(port, baud)
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
pa = threading.Thread(target=self.pub_real_angles)
|
||||
pb = threading.Thread(target=self.pub_real_coords)
|
||||
sa = threading.Thread(target=self.sub_set_angles)
|
||||
sb = threading.Thread(target=self.sub_set_coords)
|
||||
sg = threading.Thread(target=self.sub_gripper_status)
|
||||
sp = threading.Thread(target=self.sub_pump_status)
|
||||
|
||||
pa.setDaemon(True)
|
||||
pa.start()
|
||||
pb.setDaemon(True)
|
||||
pb.start()
|
||||
sa.setDaemon(True)
|
||||
sa.start()
|
||||
sb.setDaemon(True)
|
||||
sb.start()
|
||||
sg.setDaemon(True)
|
||||
sg.start()
|
||||
sp.setDaemon(True)
|
||||
sp.start()
|
||||
|
||||
pa.join()
|
||||
pb.join()
|
||||
sa.join()
|
||||
sb.join()
|
||||
sg.join()
|
||||
sp.join()
|
||||
|
||||
def pub_real_angles(self):
|
||||
"""Publish real angle"""
|
||||
"""发布真实角度"""
|
||||
pub = rospy.Publisher("cobotx/angles_real", CobotXAngles, queue_size=5)
|
||||
ma = CobotXAngles()
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
angles = self.mc.get_angles()
|
||||
self.lock.release()
|
||||
if angles:
|
||||
ma.joint_1 = angles[0]
|
||||
ma.joint_2 = angles[1]
|
||||
ma.joint_3 = angles[2]
|
||||
ma.joint_4 = angles[3]
|
||||
ma.joint_5 = angles[4]
|
||||
ma.joint_6 = angles[5]
|
||||
ma.joint_7 = angles[6]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def pub_real_coords(self):
|
||||
"""publish real coordinates"""
|
||||
"""发布真实坐标"""
|
||||
pub = rospy.Publisher("cobotx/coords_real", CobotXCoords, queue_size=5)
|
||||
ma = CobotXCoords()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
coords = self.mc.get_coords()
|
||||
self.lock.release()
|
||||
if coords:
|
||||
ma.x = coords[0]
|
||||
ma.y = coords[1]
|
||||
ma.z = coords[2]
|
||||
ma.rx = coords[3]
|
||||
ma.ry = coords[4]
|
||||
ma.rz = coords[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def sub_set_angles(self):
|
||||
"""subscription angles"""
|
||||
"""订阅角度"""
|
||||
def callback(data):
|
||||
angles = [
|
||||
data.joint_1,
|
||||
data.joint_2,
|
||||
data.joint_3,
|
||||
data.joint_4,
|
||||
data.joint_5,
|
||||
data.joint_6,
|
||||
data.joint_7,
|
||||
]
|
||||
sp = int(data.speed)
|
||||
self.mc.send_angles(angles, sp)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/angles_goal", CobotXSetAngles, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_set_coords(self):
|
||||
def callback(data):
|
||||
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
|
||||
sp = int(data.speed)
|
||||
model = int(data.model)
|
||||
self.mc.send_coords(angles, sp, model)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/coords_goal", CobotXSetCoords, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_gripper_status(self):
|
||||
"""Subscribe to Gripper Status"""
|
||||
"""订阅夹爪状态"""
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_gripper_state(0, 80)
|
||||
else:
|
||||
self.mc.set_gripper_state(1, 80)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/gripper_status", CobotXGripperStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_pump_status(self):
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_basic_output(data.Pin1, 0)
|
||||
self.mc.set_basic_output(data.Pin2, 0)
|
||||
else:
|
||||
self.mc.set_basic_output(data.Pin1, 1)
|
||||
self.mc.set_basic_output(data.Pin2, 1)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"cobotx/pump_status", CobotXPumpStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
if __name__ == "__main__":
|
||||
Watcher()
|
||||
mc_topics = CobotXTopics()
|
||||
mc_topics.start()
|
||||
# while True:
|
||||
# mc_topics.pub_real_coords()
|
||||
# mc_topics.sub_set_angles()
|
||||
pass
|
||||
215
CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py
Executable file
215
CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py
Executable file
|
|
@ -0,0 +1,215 @@
|
|||
#!/usr/bin/env python2
|
||||
# -*- coding:utf-8 -*-
|
||||
import time
|
||||
import os
|
||||
import sys
|
||||
import signal
|
||||
import threading
|
||||
|
||||
import rospy
|
||||
|
||||
from mycobot_communication.msg import (
|
||||
MycobotAngles,
|
||||
MycobotCoords,
|
||||
MycobotSetAngles,
|
||||
MycobotSetCoords,
|
||||
MycobotGripperStatus,
|
||||
MycobotPumpStatus,
|
||||
)
|
||||
|
||||
|
||||
from pymycobot import MyCobot
|
||||
|
||||
|
||||
class Watcher:
|
||||
"""this class solves two problems with multithreaded
|
||||
programs in Python, (1) a signal might be delivered
|
||||
to any thread (which is just a malfeature) and (2) if
|
||||
the thread that gets the signal is waiting, the signal
|
||||
is ignored (which is a bug).
|
||||
|
||||
The watcher is a concurrent process (not thread) that
|
||||
waits for a signal and the process that contains the
|
||||
threads. See Appendix A of The Little Book of Semaphores.
|
||||
http://greenteapress.com/semaphores/
|
||||
|
||||
I have only tested this on Linux. I would expect it to
|
||||
work on the Macintosh and not work on Windows.
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
"""Creates a child thread, which returns. The parent
|
||||
thread waits for a KeyboardInterrupt and then kills
|
||||
the child thread.
|
||||
"""
|
||||
self.child = os.fork()
|
||||
if self.child == 0:
|
||||
return
|
||||
else:
|
||||
self.watch()
|
||||
|
||||
def watch(self):
|
||||
try:
|
||||
os.wait()
|
||||
except KeyboardInterrupt:
|
||||
# I put the capital B in KeyBoardInterrupt so I can
|
||||
# tell when the Watcher gets the SIGINT
|
||||
print("KeyBoardInterrupt")
|
||||
self.kill()
|
||||
sys.exit()
|
||||
|
||||
def kill(self):
|
||||
try:
|
||||
os.kill(self.child, signal.SIGKILL)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
|
||||
class MycobotTopics(object):
|
||||
def __init__(self):
|
||||
super(MycobotTopics, self).__init__()
|
||||
|
||||
rospy.init_node("mycobot_topics")
|
||||
rospy.loginfo("start ...")
|
||||
# problem
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
self.mc = MyCobot(port,baud)
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
pa = threading.Thread(target=self.pub_real_angles)
|
||||
pb = threading.Thread(target=self.pub_real_coords)
|
||||
sa = threading.Thread(target=self.sub_set_angles)
|
||||
sb = threading.Thread(target=self.sub_set_coords)
|
||||
sg = threading.Thread(target=self.sub_gripper_status)
|
||||
sp = threading.Thread(target=self.sub_pump_status)
|
||||
|
||||
pa.setDaemon(True)
|
||||
pa.start()
|
||||
pb.setDaemon(True)
|
||||
pb.start()
|
||||
sa.setDaemon(True)
|
||||
sa.start()
|
||||
sb.setDaemon(True)
|
||||
sb.start()
|
||||
sg.setDaemon(True)
|
||||
sg.start()
|
||||
sp.setDaemon(True)
|
||||
sp.start()
|
||||
|
||||
pa.join()
|
||||
pb.join()
|
||||
sa.join()
|
||||
sb.join()
|
||||
sg.join()
|
||||
sp.join()
|
||||
|
||||
def pub_real_angles(self):
|
||||
"""Publish real angle"""
|
||||
"""发布真实角度"""
|
||||
pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5)
|
||||
ma = MycobotAngles()
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
angles = self.mc.get_angles()
|
||||
self.lock.release()
|
||||
if angles:
|
||||
ma.joint_1 = angles[0]
|
||||
ma.joint_2 = angles[1]
|
||||
ma.joint_3 = angles[2]
|
||||
ma.joint_4 = angles[3]
|
||||
ma.joint_5 = angles[4]
|
||||
ma.joint_6 = angles[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def pub_real_coords(self):
|
||||
"""publish real coordinates"""
|
||||
"""发布真实坐标"""
|
||||
pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5)
|
||||
ma = MycobotCoords()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
coords = self.mc.get_coords()
|
||||
self.lock.release()
|
||||
if coords:
|
||||
ma.x = coords[0]
|
||||
ma.y = coords[1]
|
||||
ma.z = coords[2]
|
||||
ma.rx = coords[3]
|
||||
ma.ry = coords[4]
|
||||
ma.rz = coords[5]
|
||||
pub.publish(ma)
|
||||
time.sleep(0.25)
|
||||
|
||||
def sub_set_angles(self):
|
||||
"""subscription angles"""
|
||||
"""订阅角度"""
|
||||
def callback(data):
|
||||
angles = [
|
||||
data.joint_1,
|
||||
data.joint_2,
|
||||
data.joint_3,
|
||||
data.joint_4,
|
||||
data.joint_5,
|
||||
data.joint_6,
|
||||
]
|
||||
sp = int(data.speed)
|
||||
self.mc.send_angles(angles, sp)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/angles_goal", MycobotSetAngles, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_set_coords(self):
|
||||
def callback(data):
|
||||
angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
|
||||
sp = int(data.speed)
|
||||
model = int(data.model)
|
||||
self.mc.send_coords(angles, sp, model)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/coords_goal", MycobotSetCoords, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_gripper_status(self):
|
||||
"""Subscribe to Gripper Status"""
|
||||
"""订阅夹爪状态"""
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_gripper_state(0, 80)
|
||||
else:
|
||||
self.mc.set_gripper_state(1, 80)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/gripper_status", MycobotGripperStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
def sub_pump_status(self):
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_basic_output(data.Pin1, 0)
|
||||
self.mc.set_basic_output(data.Pin2, 0)
|
||||
else:
|
||||
self.mc.set_basic_output(data.Pin1, 1)
|
||||
self.mc.set_basic_output(data.Pin2, 1)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"mycobot/pump_status", MycobotPumpStatus, callback=callback
|
||||
)
|
||||
rospy.spin()
|
||||
|
||||
if __name__ == "__main__":
|
||||
Watcher()
|
||||
mc_topics = MycobotTopics()
|
||||
mc_topics.start()
|
||||
# while True:
|
||||
# mc_topics.pub_real_coords()
|
||||
# mc_topics.sub_set_angles()
|
||||
pass
|
||||
10
CobotX/cobotx_a450_communication/srv/GetAngles.srv
Executable file
10
CobotX/cobotx_a450_communication/srv/GetAngles.srv
Executable file
|
|
@ -0,0 +1,10 @@
|
|||
|
||||
---
|
||||
|
||||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
float32 joint_4
|
||||
float32 joint_5
|
||||
float32 joint_6
|
||||
float32 joint_7
|
||||
9
CobotX/cobotx_a450_communication/srv/GetCoords.srv
Executable file
9
CobotX/cobotx_a450_communication/srv/GetCoords.srv
Executable file
|
|
@ -0,0 +1,9 @@
|
|||
|
||||
---
|
||||
|
||||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 rx
|
||||
float32 ry
|
||||
float32 rz
|
||||
5
CobotX/cobotx_a450_communication/srv/GripperStatus.srv
Executable file
5
CobotX/cobotx_a450_communication/srv/GripperStatus.srv
Executable file
|
|
@ -0,0 +1,5 @@
|
|||
bool Status
|
||||
|
||||
---
|
||||
|
||||
bool Flag
|
||||
7
CobotX/cobotx_a450_communication/srv/PumpStatus.srv
Executable file
7
CobotX/cobotx_a450_communication/srv/PumpStatus.srv
Executable file
|
|
@ -0,0 +1,7 @@
|
|||
bool Status
|
||||
int8 Pin1
|
||||
int8 Pin2
|
||||
|
||||
---
|
||||
|
||||
bool Flag
|
||||
13
CobotX/cobotx_a450_communication/srv/SetAngles.srv
Executable file
13
CobotX/cobotx_a450_communication/srv/SetAngles.srv
Executable file
|
|
@ -0,0 +1,13 @@
|
|||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
float32 joint_4
|
||||
float32 joint_5
|
||||
float32 joint_6
|
||||
float32 joint_7
|
||||
|
||||
int8 speed
|
||||
|
||||
---
|
||||
|
||||
bool Flag
|
||||
13
CobotX/cobotx_a450_communication/srv/SetCoords.srv
Executable file
13
CobotX/cobotx_a450_communication/srv/SetCoords.srv
Executable file
|
|
@ -0,0 +1,13 @@
|
|||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
float32 rx
|
||||
float32 ry
|
||||
float32 rz
|
||||
|
||||
int8 speed
|
||||
int8 model
|
||||
|
||||
---
|
||||
|
||||
bool Flag
|
||||
11
CobotX/cobotx_a450_moveit/.setup_assistant
Normal file
11
CobotX/cobotx_a450_moveit/.setup_assistant
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
moveit_setup_assistant_config:
|
||||
URDF:
|
||||
package: mycobot_description
|
||||
relative_path: urdf/cobotx_a450/cobotx_a450.urdf
|
||||
xacro_args: "--inorder "
|
||||
SRDF:
|
||||
relative_path: config/firefighter.srdf
|
||||
CONFIG:
|
||||
author_name: zachary
|
||||
author_email: lijun.zhang@elephantrobotics.com
|
||||
generated_timestamp: 1687660389
|
||||
10
CobotX/cobotx_a450_moveit/CMakeLists.txt
Normal file
10
CobotX/cobotx_a450_moveit/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
cmake_minimum_required(VERSION 3.1.3)
|
||||
project(cobotx_a450_moveit)
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
PATTERN "setup_assistant.launch" EXCLUDE)
|
||||
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
25
CobotX/cobotx_a450_moveit/LICENSE
Normal file
25
CobotX/cobotx_a450_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.
|
||||
5
CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml
Normal file
5
CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
cartesian_limits:
|
||||
max_trans_vel: 1
|
||||
max_trans_acc: 2.25
|
||||
max_trans_dec: -5
|
||||
max_rot_vel: 1.57
|
||||
18
CobotX/cobotx_a450_moveit/config/chomp_planning.yaml
Normal file
18
CobotX/cobotx_a450_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: 0.0
|
||||
use_pseudo_inverse: false
|
||||
pseudo_inverse_ridge_factor: 1e-4
|
||||
joint_update_limit: 0.1
|
||||
collision_clearance: 0.2
|
||||
collision_threshold: 0.07
|
||||
use_stochastic_descent: true
|
||||
enable_failure_recovery: false
|
||||
max_recovery_attempts: 5
|
||||
14
CobotX/cobotx_a450_moveit/config/fake_controllers.yaml
Normal file
14
CobotX/cobotx_a450_moveit/config/fake_controllers.yaml
Normal file
|
|
@ -0,0 +1,14 @@
|
|||
controller_list:
|
||||
- name: fake_arm_group_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- joint1_to_base
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint7_to_joint6
|
||||
initial: # Define initial robot poses per group
|
||||
- group: arm_group
|
||||
pose: init_pose
|
||||
63
CobotX/cobotx_a450_moveit/config/firefighter.srdf
Normal file
63
CobotX/cobotx_a450_moveit/config/firefighter.srdf
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--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="vitual_joint"/> -->
|
||||
<joint name="joint1_to_base"/>
|
||||
<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="joint7_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="joint1_to_base" value="0"/>
|
||||
<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="joint7_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="world" child_link="base"/>
|
||||
<!--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="base" link2="joint1" reason="Adjacent"/>
|
||||
<disable_collisions link1="base" link2="joint2" reason="Always"/>
|
||||
<disable_collisions link1="base" link2="joint3" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="joint4" reason="Always"/>
|
||||
<disable_collisions link1="base" link2="joint5" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="joint6" reason="Always"/>
|
||||
<disable_collisions link1="base" link2="joint7" reason="Always"/>
|
||||
<disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
|
||||
<disable_collisions link1="joint1" link2="joint3" reason="Default"/>
|
||||
<disable_collisions link1="joint1" link2="joint4" reason="Always"/>
|
||||
<disable_collisions link1="joint1" link2="joint5" reason="Default"/>
|
||||
<disable_collisions link1="joint1" link2="joint6" reason="Always"/>
|
||||
<disable_collisions link1="joint1" link2="joint7" reason="Always"/>
|
||||
<disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
|
||||
<disable_collisions link1="joint2" link2="joint4" reason="Default"/>
|
||||
<disable_collisions link1="joint2" link2="joint5" reason="Always"/>
|
||||
<disable_collisions link1="joint2" link2="joint6" reason="Default"/>
|
||||
<disable_collisions link1="joint2" link2="joint7" reason="Always"/>
|
||||
<disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
|
||||
<disable_collisions link1="joint3" link2="joint5" reason="Default"/>
|
||||
<disable_collisions link1="joint3" link2="joint6" reason="Always"/>
|
||||
<disable_collisions link1="joint3" link2="joint7" reason="Always"/>
|
||||
<disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
|
||||
<disable_collisions link1="joint4" link2="joint6" reason="Default"/>
|
||||
<disable_collisions link1="joint4" link2="joint7" reason="Default"/>
|
||||
<disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
|
||||
<disable_collisions link1="joint5" link2="joint7" reason="Always"/>
|
||||
<disable_collisions link1="joint6" link2="joint7" reason="Adjacent"/>
|
||||
</robot>
|
||||
4
CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml
Normal file
4
CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
# Publish joint_states
|
||||
joint_state_controller:
|
||||
type: joint_state_controller/JointStateController
|
||||
publish_rate: 50
|
||||
45
CobotX/cobotx_a450_moveit/config/joint_limits.yaml
Normal file
45
CobotX/cobotx_a450_moveit/config/joint_limits.yaml
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# 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:
|
||||
joint1_to_base:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
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
|
||||
joint7_to_joint6:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
7
CobotX/cobotx_a450_moveit/config/kinematics.yaml
Normal file
7
CobotX/cobotx_a450_moveit/config/kinematics.yaml
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
arm_group:
|
||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
goal_joint_tolerance: 0.0001
|
||||
goal_position_tolerance: 0.0001
|
||||
goal_orientation_tolerance: 0.001
|
||||
196
CobotX/cobotx_a450_moveit/config/ompl_planning.yaml
Normal file
196
CobotX/cobotx_a450_moveit/config/ompl_planning.yaml
Normal file
|
|
@ -0,0 +1,196 @@
|
|||
planner_configs:
|
||||
AnytimePathShortening:
|
||||
type: geometric::AnytimePathShortening
|
||||
shortcut: true # Attempt to shortcut all new solution paths
|
||||
hybridize: true # Compute hybrid solution trajectories
|
||||
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
|
||||
num_planners: 4 # The number of default planners to use for planning
|
||||
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
|
||||
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
|
||||
AITstar:
|
||||
type: geometric::AITstar
|
||||
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
|
||||
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
|
||||
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
|
||||
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
|
||||
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
|
||||
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
|
||||
ABITstar:
|
||||
type: geometric::ABITstar
|
||||
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
|
||||
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
|
||||
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
|
||||
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
|
||||
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
|
||||
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
|
||||
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
|
||||
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
|
||||
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
|
||||
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
|
||||
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
|
||||
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
|
||||
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
|
||||
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
|
||||
BITstar:
|
||||
type: geometric::BITstar
|
||||
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
|
||||
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
|
||||
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
|
||||
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
|
||||
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
|
||||
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
|
||||
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
|
||||
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
|
||||
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
|
||||
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
|
||||
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
|
||||
arm_group:
|
||||
default_planner_config: RRTConnect
|
||||
planner_configs:
|
||||
- AnytimePathShortening
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
- BKPIECE
|
||||
- KPIECE
|
||||
- RRT
|
||||
- RRTConnect
|
||||
- RRTstar
|
||||
- TRRT
|
||||
- PRM
|
||||
- PRMstar
|
||||
- FMT
|
||||
- BFMT
|
||||
- PDST
|
||||
- STRIDE
|
||||
- BiTRRT
|
||||
- LBTRRT
|
||||
- BiEST
|
||||
- ProjEST
|
||||
- LazyPRM
|
||||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
- AITstar
|
||||
- ABITstar
|
||||
- BITstar
|
||||
46
CobotX/cobotx_a450_moveit/config/ros_controllers.yaml
Normal file
46
CobotX/cobotx_a450_moveit/config/ros_controllers.yaml
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
arm_group_controller:
|
||||
type: effort_controllers/JointTrajectoryController
|
||||
joints:
|
||||
- joint1_to_base
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint7_to_joint6
|
||||
gains:
|
||||
joint1_to_base:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint2_to_joint1:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint3_to_joint2:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint4_to_joint3:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint5_to_joint4:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint6_to_joint5:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint7_to_joint6:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
2
CobotX/cobotx_a450_moveit/config/sensors_3d.yaml
Normal file
2
CobotX/cobotx_a450_moveit/config/sensors_3d.yaml
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
sensors:
|
||||
[]
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
controller_list:
|
||||
- name: arm_group_controller
|
||||
action_ns: follow_joint_trajectory
|
||||
type: FollowJointTrajectory
|
||||
default: True
|
||||
joints:
|
||||
- joint1_to_base
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint7_to_joint6
|
||||
39
CobotX/cobotx_a450_moveit/config/stomp_planning.yaml
Normal file
39
CobotX/cobotx_a450_moveit/config/stomp_planning.yaml
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
stomp/arm_group:
|
||||
group_name: arm_group
|
||||
optimization:
|
||||
num_timesteps: 60
|
||||
num_iterations: 40
|
||||
num_iterations_after_valid: 0
|
||||
num_rollouts: 30
|
||||
max_rollouts: 30
|
||||
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||
control_cost_weight: 0.0
|
||||
task:
|
||||
noise_generator:
|
||||
- class: stomp_moveit/NormalDistributionSampling
|
||||
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
|
||||
cost_functions:
|
||||
- class: stomp_moveit/CollisionCheck
|
||||
collision_penalty: 1.0
|
||||
cost_weight: 1.0
|
||||
kernel_window_percentage: 0.2
|
||||
longest_valid_joint_move: 0.05
|
||||
noisy_filters:
|
||||
- class: stomp_moveit/JointLimits
|
||||
lock_start: True
|
||||
lock_goal: True
|
||||
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||
line_width: 0.02
|
||||
rgb: [255, 255, 0]
|
||||
marker_array_topic: stomp_trajectories
|
||||
marker_namespace: noisy
|
||||
update_filters:
|
||||
- class: stomp_moveit/PolynomialSmoother
|
||||
poly_order: 6
|
||||
- class: stomp_moveit/TrajectoryVisualization
|
||||
line_width: 0.05
|
||||
rgb: [0, 191, 255]
|
||||
error_rgb: [255, 0, 0]
|
||||
publish_intermediate: True
|
||||
marker_topic: stomp_trajectory
|
||||
marker_namespace: optimized
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
<arg name="start_state_max_bounds_error" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints"
|
||||
/>
|
||||
|
||||
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/chomp_planning.yaml" />
|
||||
</launch>
|
||||
15
CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch
Normal file
15
CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<arg name="reset" default="false"/>
|
||||
<!-- If not specified, we'll use a default database location -->
|
||||
<arg name="moveit_warehouse_database_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- Launch the warehouse with the configured database location -->
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="$(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>
|
||||
67
CobotX/cobotx_a450_moveit/launch/demo.launch
Normal file
67
CobotX/cobotx_a450_moveit/launch/demo.launch
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
<launch>
|
||||
|
||||
<!-- specify the planning pipeline -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<!-- 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="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!-- By default, we will load or override the robot_description -->
|
||||
<arg name="load_robot_description" default="true"/>
|
||||
|
||||
<!-- Choose controller manager: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" default="fake" />
|
||||
<!-- Set execution mode for fake execution controllers -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
|
||||
<arg name="use_gui" default="false" />
|
||||
<arg name="use_rviz" default="true" />
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
|
||||
|
||||
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
|
||||
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
|
||||
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
|
||||
This corresponds to moving around the real robot without the use of MoveIt. -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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" />
|
||||
</group>
|
||||
|
||||
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(dirname)/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="pipeline" value="$(arg pipeline)"/>
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
|
||||
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
21
CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch
Normal file
21
CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- MoveIt options -->
|
||||
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
|
||||
|
||||
<!-- Gazebo options -->
|
||||
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
|
||||
<arg name="paused" default="false" doc="Start Gazebo paused"/>
|
||||
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
|
||||
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
|
||||
|
||||
<!-- Launch Gazebo and spawn the robot -->
|
||||
<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
|
||||
|
||||
<!-- Launch MoveIt -->
|
||||
<include file="$(dirname)/demo.launch" pass_all_args="true">
|
||||
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
|
||||
<arg name="load_robot_description" value="false" />
|
||||
<arg name="moveit_controller_manager" value="ros_control" />
|
||||
</include>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
<launch>
|
||||
|
||||
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
|
||||
|
||||
<!-- The rest of the params are specific to this plugin -->
|
||||
<rosparam subst_value="true" file="$(find cobotx_a450_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 cobotx_a450_moveit)/config/ros_controllers.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
<launch>
|
||||
|
||||
</launch>
|
||||
34
CobotX/cobotx_a450_moveit/launch/gazebo.launch
Normal file
34
CobotX/cobotx_a450_moveit/launch/gazebo.launch
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Gazebo options -->
|
||||
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
|
||||
<arg name="paused" default="false" doc="Start Gazebo paused"/>
|
||||
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
|
||||
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
|
||||
<arg name="initial_joint_positions" default=" -J joint1_to_base 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint7_to_joint6 0" doc="Initial joint configuration of the robot"/>
|
||||
|
||||
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
|
||||
<arg name="paused" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- Set the robot urdf on the parameter server -->
|
||||
<param name="robot_description" textfile="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf" />
|
||||
|
||||
<!-- Unpause the simulation after loading the robot model -->
|
||||
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
|
||||
|
||||
<!-- Spawn the robot in Gazebo -->
|
||||
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
|
||||
respawn="false" output="screen" />
|
||||
|
||||
<!-- Load the controller parameters onto the parameter server -->
|
||||
<rosparam file="$(find cobotx_a450_moveit)/config/gazebo_controllers.yaml" />
|
||||
<include file="$(dirname)/ros_controllers.launch"/>
|
||||
|
||||
<!-- Spawn the Gazebo ROS controllers -->
|
||||
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
</launch>
|
||||
17
CobotX/cobotx_a450_moveit/launch/joystick_control.launch
Normal file
17
CobotX/cobotx_a450_moveit/launch/joystick_control.launch
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
|
||||
|
||||
<arg name="dev" default="/dev/input/js0" />
|
||||
|
||||
<!-- Launch joy node -->
|
||||
<node pkg="joy" type="joy_node" name="joy">
|
||||
<param name="dev" value="$(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>
|
||||
105
CobotX/cobotx_a450_moveit/launch/move_group.launch
Normal file
105
CobotX/cobotx_a450_moveit/launch/move_group.launch
Normal file
|
|
@ -0,0 +1,105 @@
|
|||
<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 $(dirname)/gdb_settings.gdb --ex run --args" />
|
||||
|
||||
<!-- Verbose Mode Option -->
|
||||
<arg name="info" default="$(arg debug)" />
|
||||
<arg unless="$(arg info)" name="command_args" value="" />
|
||||
<arg if="$(arg info)" name="command_args" value="--debug" />
|
||||
|
||||
<!-- move_group settings -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
<arg name="allow_trajectory_execution" default="true"/>
|
||||
<arg name="moveit_controller_manager" default="simple" />
|
||||
<arg name="fake_execution_type" default="interpolate"/>
|
||||
<arg name="max_safe_path_cost" default="1"/>
|
||||
<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
|
||||
" />
|
||||
-->
|
||||
|
||||
<arg name="load_robot_description" default="false" />
|
||||
<!-- load URDF, SRDF and joint_limits configuration -->
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)" />
|
||||
</include>
|
||||
|
||||
<!-- Planning Pipelines -->
|
||||
<group ns="move_group/planning_pipelines">
|
||||
|
||||
<!-- OMPL -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="ompl" />
|
||||
</include>
|
||||
|
||||
<!-- CHOMP -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="chomp" />
|
||||
</include>
|
||||
|
||||
<!-- Pilz Industrial Motion -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="pilz_industrial_motion_planner" />
|
||||
</include>
|
||||
|
||||
<!-- Support custom planning pipeline -->
|
||||
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
|
||||
file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="$(arg pipeline)" />
|
||||
</include>
|
||||
</group>
|
||||
|
||||
<!-- Trajectory Execution Functionality -->
|
||||
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_manage_controllers" value="true" />
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
|
||||
</include>
|
||||
|
||||
<!-- Sensors Functionality -->
|
||||
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(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="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
||||
<param name="default_planning_pipeline" value="$(arg pipeline)" />
|
||||
<param name="capabilities" value="$(arg capabilities)" />
|
||||
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
|
||||
|
||||
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
|
||||
default to false, because almost nothing in move_group relies on this information -->
|
||||
<param name="monitor_dynamics" value="false" />
|
||||
|
||||
<!-- 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>
|
||||
260
CobotX/cobotx_a450_moveit/launch/moveit.rviz
Normal file
260
CobotX/cobotx_a450_moveit/launch/moveit.rviz
Normal file
|
|
@ -0,0 +1,260 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 84
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /MotionPlanning1
|
||||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planning Metrics1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 215
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Acceleration_Scaling_Factor: 0.1
|
||||
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_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Cartesian_Path: false
|
||||
MoveIt_Use_Constraint_Aware_IK: true
|
||||
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
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Loop Animation: true
|
||||
Robot Alpha: 0.5
|
||||
Robot Color: 150; 50; 150
|
||||
Show Robot Collision: true
|
||||
Show Robot Visual: true
|
||||
Show Trail: false
|
||||
State Display Time: 0.05 s
|
||||
Trail Step Size: 1
|
||||
Trajectory Topic: move_group/display_planned_path
|
||||
Use Sim Time: false
|
||||
Planning Metrics:
|
||||
Payload: 1
|
||||
Show Joint Torques: false
|
||||
Show Manipulability: false
|
||||
Show Manipulability Index: false
|
||||
Show Weight Limit: false
|
||||
TextHeight: 0.07999999821186066
|
||||
Planning Request:
|
||||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0.11999999731779099
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: arm_group
|
||||
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: 0.009999999776482582
|
||||
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
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint7:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Robot Alpha: 0.5
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 0.1
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: base
|
||||
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/Orbit
|
||||
Distance: 2
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.75
|
||||
Focal Point:
|
||||
X: -0.10000000149011612
|
||||
Y: 0.25
|
||||
Z: 0.30000001192092896
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.2697961628437042
|
||||
Target Frame: base
|
||||
Yaw: 4.226308822631836
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 848
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
MotionPlanning:
|
||||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1291
|
||||
X: 454
|
||||
Y: 27
|
||||
15
CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch
Normal file
15
CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<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="rviz_config" default="" />
|
||||
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
|
||||
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
|
||||
|
||||
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
|
||||
args="$(arg command_args)" output="screen">
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
65
CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch
Normal file
65
CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
<launch>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<!-- 允许用户指定数据库位置 -->
|
||||
<arg name="db_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
|
||||
<include file="$(find cobotx_a450_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 -->
|
||||
<!-- 我们没有连接机器人，所以发布假关节状态 -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
|
||||
<include file="$(find cobotx_a450_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="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
|
||||
<include file="$(find cobotx_a450_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<!-- 如果启用了数据库加载，也启动 mongodb -->
|
||||
<include file="$(find cobotx_a450_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
<launch>
|
||||
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
|
||||
<include file="$(find cobotx_a450_moveit)/launch/ompl_planning_pipeline.launch.xml">
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints
|
||||
chomp/OptimizerAdapter"
|
||||
/>
|
||||
</include>
|
||||
|
||||
<!-- load chomp config -->
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/chomp_planning.yaml" />
|
||||
|
||||
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
|
||||
<param name="trajectory_initialization_method" value="fillTrajectory"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
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" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
|
||||
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/ompl_planning.yaml"/>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters" default="" />
|
||||
|
||||
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
|
||||
<!-- Define default planner (for all groups) -->
|
||||
<param name="default_planner_config" value="PTP" />
|
||||
|
||||
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
|
||||
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
|
||||
pilz_industrial_motion_planner/MoveGroupSequenceService" />
|
||||
</launch>
|
||||
26
CobotX/cobotx_a450_moveit/launch/planning_context.launch
Normal file
26
CobotX/cobotx_a450_moveit/launch/planning_context.launch
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<launch>
|
||||
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
|
||||
<arg name="load_robot_description" default="false"/>
|
||||
|
||||
<!-- The name of the parameter under which the URDF is loaded -->
|
||||
<arg name="robot_description" default="robot_description"/>
|
||||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find cobotx_a450_moveit)/config/firefighter.srdf" />
|
||||
|
||||
<!-- Load updated joint limits (override information from URDF) -->
|
||||
<group ns="$(arg robot_description)_planning">
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/joint_limits.yaml"/>
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/cartesian_limits.yaml"/>
|
||||
</group>
|
||||
|
||||
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
|
||||
<group ns="$(arg robot_description)_kinematics">
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/kinematics.yaml"/>
|
||||
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<!-- This file makes it easy to include different planning pipelines;
|
||||
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
|
||||
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
<launch>
|
||||
<!-- Define MoveIt controller manager plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
|
||||
</launch>
|
||||
11
CobotX/cobotx_a450_moveit/launch/ros_controllers.launch
Normal file
11
CobotX/cobotx_a450_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="$(find cobotx_a450_moveit)/config/ros_controllers.yaml" command="load"/>
|
||||
|
||||
<!-- Load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args="arm_group_controller "/>
|
||||
|
||||
</launch>
|
||||
21
CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch
Normal file
21
CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
<launch>
|
||||
|
||||
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
|
||||
<arg name="cfg" />
|
||||
|
||||
<!-- Load URDF -->
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- Start the database -->
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
|
||||
</include>
|
||||
|
||||
<!-- Start Benchmark Executable -->
|
||||
<node name="$(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 cobotx_a450_moveit)/config/ompl_planning.yaml"/>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
17
CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml
Normal file
17
CobotX/cobotx_a450_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="$(find cobotx_a450_moveit)/config/sensors_3d.yaml" />
|
||||
|
||||
<!-- Params for the octomap monitor -->
|
||||
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
|
||||
<param name="octomap_resolution" type="double" value="0.025" />
|
||||
<param name="max_range" type="double" value="5.0" />
|
||||
|
||||
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
|
||||
<arg name="moveit_sensor_manager" default="firefighter" />
|
||||
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
|
||||
|
||||
</launch>
|
||||
16
CobotX/cobotx_a450_moveit/launch/setup_assistant.launch
Normal file
16
CobotX/cobotx_a450_moveit/launch/setup_assistant.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
|
||||
<launch>
|
||||
|
||||
<!-- Debug Info -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<!-- Run -->
|
||||
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
|
||||
args="--config_pkg=cobotx_a450_moveit"
|
||||
launch-prefix="$(arg launch_prefix)"
|
||||
required="true"
|
||||
output="screen" />
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
<launch>
|
||||
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
|
||||
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
|
||||
|
||||
<!-- Load controller list to the parameter server -->
|
||||
<rosparam file="$(find cobotx_a450_moveit)/config/simple_moveit_controllers.yaml" />
|
||||
<rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- Stomp Plugin for MoveIt -->
|
||||
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
|
||||
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
<arg name="jiggle_fraction" value="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
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" />
|
||||
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find cobotx_a450_moveit)/config/stomp_planning.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- This file summarizes all settings required for trajectory execution -->
|
||||
|
||||
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" />
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
|
||||
<arg name="moveit_manage_controllers" default="true"/>
|
||||
<param name="moveit_manage_controllers" value="$(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 -->
|
||||
|
||||
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
|
||||
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
|
||||
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
|
||||
|
||||
</launch>
|
||||
15
CobotX/cobotx_a450_moveit/launch/warehouse.launch
Normal file
15
CobotX/cobotx_a450_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="$(dirname)/warehouse_settings.launch.xml" />
|
||||
|
||||
<!-- Run the DB server -->
|
||||
<node name="$(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="$(arg moveit_warehouse_database_path)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<!-- Set the parameters for the warehouse and run the mongodb server. -->
|
||||
|
||||
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
|
||||
<arg name="moveit_warehouse_port" default="33829" />
|
||||
|
||||
<!-- The default DB host for moveit -->
|
||||
<arg name="moveit_warehouse_host" default="localhost" />
|
||||
|
||||
<!-- Set parameters for the warehouse -->
|
||||
<param name="warehouse_port" value="$(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>
|
||||
41
CobotX/cobotx_a450_moveit/package.xml
Normal file
41
CobotX/cobotx_a450_moveit/package.xml
Normal file
|
|
@ -0,0 +1,41 @@
|
|||
<package>
|
||||
|
||||
<name>cobotx_a450_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="weijian.wang@elephantrobotics.com">wangweijian</author>
|
||||
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</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</run_depend>
|
||||
<run_depend>moveit_ros_visualization</run_depend>
|
||||
<run_depend>moveit_setup_assistant</run_depend>
|
||||
<run_depend>moveit_simple_controller_manager</run_depend>
|
||||
<run_depend>joint_state_publisher</run_depend>
|
||||
<run_depend>joint_state_publisher_gui</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
<run_depend>rviz</run_depend>
|
||||
<run_depend>tf2_ros</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<!-- The next 2 packages are required for the gazebo simulation.
|
||||
We don't include them by default to prevent installing gazebo and all its dependencies. -->
|
||||
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
|
||||
<!-- <run_depend>gazebo_ros_control</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> -->
|
||||
<run_depend>mycobot_description</run_depend>
|
||||
|
||||
|
||||
</package>
|
||||
163
CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py
Executable file
163
CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py
Executable file
|
|
@ -0,0 +1,163 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import sys
|
||||
import rospy
|
||||
import moveit_commander
|
||||
import moveit_msgs.msg
|
||||
import geometry_msgs.msg
|
||||
import tf
|
||||
|
||||
|
||||
class MoveItPlanningDemo:
|
||||
def __init__(self):
|
||||
rospy.init_node('moveit_avoid_obstacles', anonymous=True)
|
||||
# 初始化MoveIt
|
||||
moveit_commander.roscpp_initialize(sys.argv)
|
||||
|
||||
# 创建RobotCommander对象
|
||||
self.robot = moveit_commander.RobotCommander()
|
||||
|
||||
# 创建PlanningSceneInterface对象
|
||||
self.scene = moveit_commander.PlanningSceneInterface()
|
||||
|
||||
# 创建MoveGroupCommander对象
|
||||
self.arm_group = moveit_commander.MoveGroupCommander("arm_group")
|
||||
|
||||
# 获取末端关节的名称
|
||||
self.end_effector_link = self.arm_group.get_end_effector_link()
|
||||
|
||||
# 设置目标位置所使用的坐标参考系
|
||||
self.reference_frame = 'base'
|
||||
self.arm_group.set_pose_reference_frame(self.reference_frame)
|
||||
|
||||
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
|
||||
self.arm_group.set_goal_position_tolerance(0.01)
|
||||
self.arm_group.set_goal_orientation_tolerance(0.05)
|
||||
|
||||
# 当运动规划失败后，允许重新规划
|
||||
self.arm_group.allow_replanning(True)
|
||||
# 设置规划的最大时间为20秒
|
||||
self.arm_group.set_planning_time(20)
|
||||
# 设置规划尝试次数为10次（或者更大的值）
|
||||
self.arm_group.set_num_planning_attempts(20)
|
||||
|
||||
|
||||
def add_scene(self):
|
||||
# 添加第一个圆柱作为障碍物（垂直于平面）
|
||||
cylinder1_pose = geometry_msgs.msg.PoseStamped()
|
||||
cylinder1_pose.header.frame_id = self.robot.get_planning_frame()
|
||||
cylinder1_pose.pose.position.x = 0.15
|
||||
cylinder1_pose.pose.position.y = 0
|
||||
cylinder1_pose.pose.position.z = 0.30
|
||||
cylinder1_pose.pose.orientation.w = 1.0
|
||||
self.scene.add_cylinder("cylinder1", cylinder1_pose, height=0.6, radius=0.01)
|
||||
|
||||
# 添加第二个圆柱作为障碍物（水平于平面，构成十字架）
|
||||
cylinder2_pose = geometry_msgs.msg.PoseStamped()
|
||||
cylinder2_pose.header.frame_id = self.robot.get_planning_frame()
|
||||
cylinder2_pose.pose.position.x = 0.15
|
||||
cylinder2_pose.pose.position.y = 0
|
||||
cylinder2_pose.pose.position.z = 0.40
|
||||
cylinder2_pose.pose.orientation.w = 1.0
|
||||
cylinder2_pose.pose.orientation.x = 0.707 # 围绕x轴旋转90度（水平方向）
|
||||
cylinder2_pose.pose.orientation.y = 0.0
|
||||
cylinder2_pose.pose.orientation.z = 0.0
|
||||
cylinder2_pose.pose.orientation.w = 0.707
|
||||
self.scene.add_cylinder("cylinder2", cylinder2_pose, height=0.6, radius=0.02)
|
||||
# 发布当前场景信息
|
||||
planning_scene = moveit_msgs.msg.PlanningScene()
|
||||
planning_scene.world.collision_objects.extend(self.scene.get_objects().values())
|
||||
planning_scene.is_diff = True
|
||||
|
||||
planning_scene_publisher = rospy.Publisher('/planning_scene', moveit_msgs.msg.PlanningScene, queue_size=1)
|
||||
planning_scene_publisher.publish(planning_scene)
|
||||
rospy.sleep(2)
|
||||
|
||||
def robot_move(self):
|
||||
|
||||
# 控制机械臂回到初始化位置
|
||||
self.arm_group.set_named_target('init_pose')
|
||||
self.arm_group.go()
|
||||
rospy.sleep(3)
|
||||
|
||||
|
||||
# 设置机械臂运动的目标点，使用笛卡尔空间坐标位置表示（单位：米），姿态使用四元数表示
|
||||
target_pose = geometry_msgs.msg.PoseStamped()
|
||||
target_pose.header.frame_id = self.reference_frame
|
||||
target_pose.header.stamp = rospy.Time.now()
|
||||
target_pose.pose.position.x = 0.142 # 设置目标点的x坐标
|
||||
target_pose.pose.position.y = -0.140 # 设置目标点的y坐标
|
||||
target_pose.pose.position.z = 0.075 # 设置目标点的z坐标
|
||||
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
|
||||
|
||||
# 更新当前的位姿
|
||||
self.arm_group.set_start_state_to_current_state()
|
||||
|
||||
# 获取机械臂当前的关节状态
|
||||
current_joint_values = self.arm_group.get_current_joint_values()
|
||||
|
||||
# 打印当前关节状态
|
||||
print("Current Joint Values:", current_joint_values)
|
||||
print("end Joint Values:", self.end_effector_link)
|
||||
# 设置机械臂的目标姿态
|
||||
self.arm_group.set_pose_target(target_pose, self.end_effector_link)
|
||||
# 进行运动规划
|
||||
plan = self.arm_group.plan()
|
||||
# print('plan point:', plan[1])
|
||||
# 执行运动
|
||||
self.arm_group.execute(plan[1])
|
||||
rospy.sleep(3)
|
||||
# 获取末端执行器的姿态
|
||||
end_effector_pose = self.arm_group.get_current_pose().pose
|
||||
|
||||
# 打印末端执行器的坐标位置
|
||||
print("End Effector Position:", end_effector_pose.position)
|
||||
print("End Effector Orientation:", end_effector_pose.orientation)
|
||||
# 控制机械臂末端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
|
||||
# self.arm_group.shift_pose_target(1, 0.22, self.end_effector_link)
|
||||
# self.arm_group.go()
|
||||
# rospy.sleep(5)
|
||||
|
||||
# 设置机械臂的目标位置，使用7轴的位置数据进行描述（单位：弧度）
|
||||
# joint_pose = [0.2967, 0, 0, -1.57000, 0, -1.3439, 0]
|
||||
# joint_pose = [0.2967, 0, 0, 0, 0, -1.3439, 0]
|
||||
# arm_group.set_joint_value_target(joint_pose)
|
||||
|
||||
# 控制机械臂完成运动
|
||||
# arm_group.go()
|
||||
# rospy.sleep(10)
|
||||
# 控制机械臂回到初始化位置
|
||||
# arm_group.set_named_target('init_pose')
|
||||
# arm_group.go()
|
||||
|
||||
def run(self):
|
||||
# 移除所有障碍物
|
||||
# self.scene.remove_world_object("cylinder1")
|
||||
# self.scene.remove_world_object("cylinder2")
|
||||
# 没有障碍物运行一次
|
||||
# self.robot_move()
|
||||
|
||||
# 增加障碍物
|
||||
self.add_scene()
|
||||
rospy.sleep(3)
|
||||
# 获取当前场景中的所有障碍物
|
||||
current_obstacles = self.scene.get_known_object_names()
|
||||
rospy.loginfo("Current obstacles in the scene: %s", current_obstacles)
|
||||
rospy.sleep(2)
|
||||
# 有障碍物后再运行一次
|
||||
self.robot_move()
|
||||
# 关闭MoveIt
|
||||
moveit_commander.roscpp_shutdown()
|
||||
moveit_commander.os._exit(0)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
obstacle = MoveItPlanningDemo()
|
||||
obstacle.run()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
52
CobotX/cobotx_a450_moveit/scripts/sync_plan.py
Executable file
52
CobotX/cobotx_a450_moveit/scripts/sync_plan.py
Executable file
|
|
@ -0,0 +1,52 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
"""[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/ttyAMA1'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
import math
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.cobotx import CobotX
|
||||
|
||||
|
||||
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):
|
||||
radians_to_angles = math.degrees(value)
|
||||
data_list.append(radians_to_angles)
|
||||
|
||||
# mc.send_radians(data_list, 80)
|
||||
mc.send_angles(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/ttyAMA1")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = CobotX(port, baud)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
# spin()只是阻止python退出，直到该节点停止
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
294
mycobot_description/urdf/cobotx_a450/base.dae
Normal file
294
mycobot_description/urdf/cobotx_a450/base.dae
Normal file
File diff suppressed because one or more lines are too long
204
mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf
Normal file
204
mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf
Normal file
|
|
@ -0,0 +1,204 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.08 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.08 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708 "/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.038" rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint7">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_a450/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0.175" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
|
||||
<origin xyz= "0 0 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 -0.11 0 " rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= "0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 0.0 0.08" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint7_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="joint6"/>
|
||||
<child link="joint7"/>
|
||||
<origin xyz= "0.038 -0.046 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
187
mycobot_description/urdf/cobotx_a450/joint1.dae
Normal file
187
mycobot_description/urdf/cobotx_a450/joint1.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_a450/joint2.dae
Normal file
187
mycobot_description/urdf/cobotx_a450/joint2.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_a450/joint3.dae
Normal file
187
mycobot_description/urdf/cobotx_a450/joint3.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_a450/joint4.dae
Normal file
187
mycobot_description/urdf/cobotx_a450/joint4.dae
Normal file
File diff suppressed because one or more lines are too long
Some files were not shown because too many files have changed in this diff Show more
Loading…
Add table
Reference in a new issue