mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
update mira ros
This commit is contained in:
weijian
parent
c1e97e3fb1
commit
9019f6362a
11 changed files with 116 additions and 220 deletions
|
|
@ -21,7 +21,6 @@ catkin_package(
|
|||
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
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@ Panels:
|
|||
- /TF1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 591
|
||||
Tree Height: 579
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
|
|
@ -161,17 +161,17 @@ Visualization Manager:
|
|||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.40479761362075806
|
||||
Pitch: 0.34979769587516785
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 2.270383358001709
|
||||
Yaw: 2.305382013320923
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 888
|
||||
Height: 876
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002cefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ce000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ce000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
|
|
|
|||
|
|
@ -1,14 +0,0 @@
|
|||
<launch>
|
||||
<!-- Load file model .加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mira_urdf/mira.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mira)/config/mira.rviz" />
|
||||
|
||||
<param name="robot_description" command="$(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 Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -1,109 +0,0 @@
|
|||
#!/usr/bin/env python3
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
|
||||
|
||||
from pymycobot.mypalletizer import MyPalletizer
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("display", anonymous=True)
|
||||
|
||||
print("Try connect real mypal...")
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print("port: {}, baud: {}\n".format(port, baud))
|
||||
try:
|
||||
mira = MyPalletizer(port, baud)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print(
|
||||
"""\
|
||||
\rTry connect mypalletizer failed!
|
||||
\rPlease check wether connected with MyPalletizer.
|
||||
\rPlease chckt wether the port or baud is right.
|
||||
"""
|
||||
)
|
||||
exit(1)
|
||||
mira.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. 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",
|
||||
]
|
||||
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 = mira.get_radians()
|
||||
data_list = []
|
||||
for index, value in enumerate(angles):
|
||||
data_list.append(value)
|
||||
|
||||
# rospy.loginfo('{}'.format(data_list))
|
||||
joint_state_send.position = data_list
|
||||
|
||||
# data_list.insert(3,0.0)
|
||||
print(joint_state_send.position)
|
||||
|
||||
pub.publish(joint_state_send)
|
||||
|
||||
coords = mira.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. 标记初始位置
|
||||
# print(coords)
|
||||
if not coords:
|
||||
# coords = [0, 0, 0, 0, 0 ]
|
||||
coords = [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
|
||||
9
Mira/mira/scripts/listen_real.py
Normal file → Executable file
9
Mira/mira/scripts/listen_real.py
Normal file → Executable file
|
|
@ -6,9 +6,9 @@ import math
|
|||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
# from mycobot_communication.srv import GetAngles
|
||||
from mira_communication.srv import GetAngles
|
||||
# from pymycobot.mypalletizer import MyPalletizer
|
||||
from pymycobot.mira import Mira
|
||||
|
||||
|
||||
def talker():
|
||||
|
|
@ -28,9 +28,9 @@ def talker():
|
|||
# "joint4_to_joint3",
|
||||
# "joint5_to_joint4",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.velocity = [0.0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
|
||||
# waiting util server `get_joint_angles` enable.
|
||||
rospy.loginfo("wait service")
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
|
|
@ -40,6 +40,7 @@ def talker():
|
|||
while not rospy.is_shutdown():
|
||||
# get real angles from server.
|
||||
# 从服务获取真实的角度
|
||||
|
||||
res = func()
|
||||
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
|
||||
continue
|
||||
|
|
@ -52,7 +53,7 @@ def talker():
|
|||
|
||||
]
|
||||
rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
print('res:',res)
|
||||
# publish angles. 发布角度
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
joint_state_send.position = radians_list
|
||||
|
|
|
|||
71
Mira/mira/scripts/simple_gui.py
Normal file → Executable file
71
Mira/mira/scripts/simple_gui.py
Normal file → Executable file
|
|
@ -12,7 +12,7 @@ class Window:
|
|||
self.win = handle
|
||||
self.win.resizable(0, 0) # fixed window size 固定窗口大小
|
||||
|
||||
self.model = 0
|
||||
# self.model = 0
|
||||
self.speed = rospy.get_param("~speed", 50)
|
||||
|
||||
# set default speed. 设置默认速度
|
||||
|
|
@ -22,8 +22,8 @@ class Window:
|
|||
self.connect_ser()
|
||||
|
||||
# Get robotic arm data. 获取机械臂数据
|
||||
self.record_coords = [0, 0, 0, self.speed,]
|
||||
self.res_angles = [0, 0, 0, self.speed,]
|
||||
self.record_coords = [0, 0, 0, self.speed]
|
||||
self.res_angles = [0, 0, 0, self.speed]
|
||||
self.get_date()
|
||||
|
||||
# get screen width and height. 获取屏幕宽度和高度
|
||||
|
|
@ -33,7 +33,7 @@ class Window:
|
|||
# 计算 Tk 根窗口的 x 和 y 坐标
|
||||
x = (self.ws / 2) - 190
|
||||
y = (self.hs / 2) - 250
|
||||
self.win.geometry("430x350+{}+{}".format(x, y))
|
||||
self.win.geometry("430x350+{}+{}".format(int(x), int(y)))
|
||||
# layout. 布局
|
||||
self.set_layout()
|
||||
# input. 输入部分
|
||||
|
|
@ -66,15 +66,15 @@ class Window:
|
|||
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")
|
||||
# rospy.wait_for_service("switch_gripper_status")
|
||||
try:
|
||||
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
|
||||
self.get_coords_info = 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.get_angles_info = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
|
||||
self.switch_gripper = rospy.ServiceProxy(
|
||||
"switch_gripper_status", GripperStatus
|
||||
)
|
||||
# self.switch_gripper = rospy.ServiceProxy(
|
||||
# "switch_gripper_status", GripperStatus
|
||||
# )
|
||||
except:
|
||||
print("start error ...")
|
||||
exit(1)
|
||||
|
|
@ -143,8 +143,8 @@ class Window:
|
|||
|
||||
|
||||
# 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.all_c = [self.x, self.y, self.z,]
|
||||
self.all_j = [self.J_1, self.J_2, self.J_3]
|
||||
self.all_c = [self.x, self.y, self.z]
|
||||
|
||||
|
||||
|
||||
|
|
@ -285,10 +285,10 @@ class Window:
|
|||
int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
|
||||
)
|
||||
c_value.append(self.speed)
|
||||
c_value.append(self.model)
|
||||
# c_value.append(self.model)
|
||||
# print(c_value)
|
||||
try:
|
||||
self.set_coords(*c_value)
|
||||
self.set_coords(c_value[0], c_value[1], c_value[2], self.speed)
|
||||
except ServiceException:
|
||||
pass
|
||||
self.show_j_date(c_value[:-2], "coord")
|
||||
|
|
@ -306,7 +306,7 @@ class Window:
|
|||
j_value.append(self.speed)
|
||||
|
||||
try:
|
||||
self.set_angles(*j_value)
|
||||
self.set_angles(j_value[0], j_value[1], j_value[2], self.speed)
|
||||
except ServiceException:
|
||||
pass
|
||||
self.show_j_date(j_value[:-1])
|
||||
|
|
@ -316,34 +316,41 @@ class Window:
|
|||
# Get the data of 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()
|
||||
self.res = self.get_coords_info()
|
||||
|
||||
print(self.res)
|
||||
|
||||
if self.res.x > 1:
|
||||
# if self.res.x > 1:
|
||||
if self.res!= []:
|
||||
break
|
||||
time.sleep(0.1)
|
||||
|
||||
t = time.time()
|
||||
while time.time() - t < 2:
|
||||
self.angles = self.get_angles()
|
||||
if self.angles.joint_1 > 1:
|
||||
self.angles = self.get_angles_info()
|
||||
# if self.angles.joint_1 > 1:
|
||||
if self.angles != []:
|
||||
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),
|
||||
self.speed,
|
||||
]
|
||||
self.res_angles = [
|
||||
round(self.angles.joint_1, 2),
|
||||
round(self.angles.joint_2, 2),
|
||||
round(self.angles.joint_3, 2),
|
||||
]
|
||||
# print('coord:',self.record_coords)
|
||||
# print('angles:',self.res_angles)
|
||||
if self.res and self.angles != None:
|
||||
print('---------------->',self.res)
|
||||
self.record_coords = [
|
||||
round(self.res.x, 2),
|
||||
round(self.res.y, 2),
|
||||
round(self.res.z, 2),
|
||||
self.speed
|
||||
]
|
||||
# self.record_coords[0] = self.res[:3]
|
||||
# self.res_angles[0] = self.angles[:3]
|
||||
self.res_angles = [
|
||||
round(self.angles.joint_1, 2),
|
||||
round(self.angles.joint_2, 2),
|
||||
round(self.angles.joint_3, 2),
|
||||
|
||||
]
|
||||
print('coord:',self.record_coords)
|
||||
print('angles:',self.res_angles)
|
||||
|
||||
# def send_input(self,dates):
|
||||
def show_j_date(self, date, way=""):
|
||||
|
|
|
|||
21
Mira/mira/scripts/slider_control.py
Normal file → Executable file
21
Mira/mira/scripts/slider_control.py
Normal file → Executable file
|
|
@ -9,14 +9,15 @@ Passable parameters:
|
|||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
|
||||
import time
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
# from pymycobot.mycobot import MyCobot
|
||||
from pymycobot.mypalletizer import MyPalletizer
|
||||
from pymycobot.mira import Mira
|
||||
import math
|
||||
|
||||
|
||||
mc = None
|
||||
ma = None
|
||||
|
||||
|
||||
def callback(data):
|
||||
|
|
@ -24,22 +25,24 @@ def callback(data):
|
|||
print(data.position)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(value)
|
||||
|
||||
# print(data_list)
|
||||
mc.send_radians(data_list, 80)
|
||||
data_list.append(round(value,3))
|
||||
|
||||
print('data_list:',data_list)
|
||||
ma.set_radians(data_list[0],data_list[1],data_list[2], 50)
|
||||
# time.sleep(0.5)
|
||||
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
global ma
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = MyPalletizer(port, baud)
|
||||
ma = Mira(port, baud)
|
||||
ma.power_on()
|
||||
ma.go_zero()
|
||||
|
||||
# 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
|
||||
|
|
|
|||
99
Mira/mira_communication/scripts/mira_services.py
Normal file → Executable file
99
Mira/mira_communication/scripts/mira_services.py
Normal file → Executable file
|
|
@ -5,20 +5,26 @@ import rospy
|
|||
# from mycobot_communication.srv import *
|
||||
from mira_communication.srv import *
|
||||
|
||||
# from pymycobot.mycobot import MyCobot
|
||||
from pymycobot.mypalletizer import MyPalletizer
|
||||
from pymycobot.mira import Mira
|
||||
|
||||
mc = None
|
||||
ma = None
|
||||
|
||||
|
||||
def create_handle():
|
||||
global mc
|
||||
global ma
|
||||
rospy.init_node("mira_services")
|
||||
rospy.loginfo("start ...")
|
||||
port = rospy.get_param("~port")
|
||||
baud = rospy.get_param("~baud")
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
mc = MyPalletizer(port, baud)
|
||||
ma = Mira(port, baud)
|
||||
|
||||
# Power on the robotic arm
|
||||
ma.power_on()
|
||||
# calibrate the zero position of the robot arm
|
||||
ma.go_zero()
|
||||
|
||||
time.sleep(5)
|
||||
|
||||
|
||||
def create_services():
|
||||
|
|
@ -27,7 +33,7 @@ def create_services():
|
|||
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.Service("switch_pump_status", PumpStatus, toggle_pump)
|
||||
rospy.loginfo("ready")
|
||||
rospy.spin()
|
||||
|
||||
|
|
@ -37,22 +43,23 @@ def set_angles(req):
|
|||
req.joint_1,
|
||||
req.joint_2,
|
||||
req.joint_3,
|
||||
# req.joint_4,
|
||||
# req.joint_5,
|
||||
# req.joint_6,
|
||||
]
|
||||
sp = req.speed
|
||||
|
||||
if mc:
|
||||
mc.send_angles(angles, sp)
|
||||
print('mira_services:',angles)
|
||||
if ma:
|
||||
ma.set_angles(angles[0], angles[1], angles[2], sp)
|
||||
|
||||
return SetAnglesResponse(True)
|
||||
|
||||
|
||||
def get_angles(req):
|
||||
if mc:
|
||||
angles = mc.get_angles()
|
||||
return GetAnglesResponse(*angles)
|
||||
if ma:
|
||||
angles = ma.get_angles_info()
|
||||
# angles = [0.0, 0.0, 0.0, 0.0]
|
||||
if angles != None:
|
||||
angles_data = angles[:3]
|
||||
# print('angles:',angles)
|
||||
return GetAnglesResponse(*angles_data)
|
||||
|
||||
|
||||
def set_coords(req):
|
||||
|
|
@ -60,46 +67,47 @@ def set_coords(req):
|
|||
req.x,
|
||||
req.y,
|
||||
req.z,
|
||||
# req.rx,
|
||||
# req.ry,
|
||||
# req.rz,
|
||||
]
|
||||
sp = req.speed
|
||||
mod = req.model
|
||||
|
||||
if mc:
|
||||
mc.send_coords(coords, sp, mod)
|
||||
# mod = req.model
|
||||
print('mira_services:',coords)
|
||||
if ma:
|
||||
ma.set_coords(coords[0], coords[1], coords[2], sp)
|
||||
|
||||
return SetCoordsResponse(True)
|
||||
|
||||
|
||||
def get_coords(req):
|
||||
if mc:
|
||||
coords = mc.get_coords()
|
||||
return GetCoordsResponse(*coords)
|
||||
if ma:
|
||||
# coords = ma.get_coords_info()
|
||||
coords = [0.0, 0.0, 0.0, 0.0]
|
||||
if coords != None:
|
||||
coords_data = coords[:3]
|
||||
# print('coords:',coords)
|
||||
return GetCoordsResponse(*coords_data)
|
||||
|
||||
|
||||
def switch_status(req):
|
||||
"""Gripper switch,夹爪开关"""
|
||||
if mc:
|
||||
if ma:
|
||||
if req.Status:
|
||||
mc.set_gripper_state(0, 80)
|
||||
ma.set_gripper_state(0, 50)
|
||||
else:
|
||||
mc.set_gripper_state(1, 80)
|
||||
ma.set_gripper_state(1, 50)
|
||||
|
||||
return GripperStatusResponse(True)
|
||||
|
||||
|
||||
def toggle_pump(req):
|
||||
if mc:
|
||||
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)
|
||||
# def toggle_pump(req):
|
||||
# if ma:
|
||||
# if req.Status:
|
||||
# ma.set_basic_output(req.Pin1, 0)
|
||||
# ma.set_basic_output(req.Pin2, 0)
|
||||
# else:
|
||||
# ma.set_basic_output(req.Pin1, 1)
|
||||
# ma.set_basic_output(req.Pin2, 1)
|
||||
|
||||
return PumpStatusResponse(True)
|
||||
# return PumpStatusResponse(True)
|
||||
|
||||
|
||||
robot_msg = """
|
||||
|
|
@ -126,19 +134,20 @@ def output_robot_message():
|
|||
servo_temperature = "unknown"
|
||||
atom_version = "unknown"
|
||||
|
||||
if mc:
|
||||
cn = mc.is_controller_connected()
|
||||
if cn == 1:
|
||||
connect_status = True
|
||||
time.sleep(0.1)
|
||||
si = mc.is_all_servo_enable()
|
||||
if si == 1:
|
||||
servo_infomation = "all connected"
|
||||
if ma:
|
||||
# cn = ma.is_controller_connected()
|
||||
# if cn == 1:
|
||||
connect_status = True
|
||||
# time.sleep(0.1)
|
||||
# si = ma.is_all_servo_enable()
|
||||
# if si == 1:
|
||||
servo_infomation = "all connected"
|
||||
|
||||
print(
|
||||
robot_msg % (connect_status, servo_infomation,
|
||||
servo_temperature, atom_version)
|
||||
)
|
||||
time.sleep(2)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
0
Mira/mira_communication/scripts/mira_topics.py
Normal file → Executable file
0
Mira/mira_communication/scripts/mira_topics.py
Normal file → Executable file
0
Mira/mira_communication/scripts/mira_topics_seeed.py
Normal file → Executable file
0
Mira/mira_communication/scripts/mira_topics_seeed.py
Normal file → Executable file
|
|
@ -6,7 +6,7 @@ float32 z
|
|||
# float32 rz
|
||||
|
||||
int8 speed
|
||||
int8 model
|
||||
# int8 model
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue