diff --git a/Mira/mira/CMakeLists.txt b/Mira/mira/CMakeLists.txt new file mode 100644 index 0000000..0ea2acf --- /dev/null +++ b/Mira/mira/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mira) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +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 +) + +## 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/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# 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) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/Mira/mira/LICENSE b/Mira/mira/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/Mira/mira/LICENSE @@ -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. diff --git a/Mira/mira/config/mira.rviz b/Mira/mira/config/mira.rviz new file mode 100644 index 0000000..6d8bf8b --- /dev/null +++ b/Mira/mira/config/mira.rviz @@ -0,0 +1,185 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 591 + - 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 + Experimental: false + 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: + 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 + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + 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 + base: + Value: true + link1: + Value: true + link2: + Value: true + link3: + Value: true + Marker Alpha: 1 + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + link1: + link2: + link3: + {} + 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: 0.7698503136634827 + 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: 0.40479761362075806 + Target Frame: + Yaw: 2.270383358001709 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 888 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/Mira/mira/launch/follow.launch b/Mira/mira/launch/follow.launch new file mode 100644 index 0000000..85249ad --- /dev/null +++ b/Mira/mira/launch/follow.launch @@ -0,0 +1,14 @@ + + + + + + + + + + ["joint_states"] + + + + diff --git a/Mira/mira/launch/simple_gui.launch b/Mira/mira/launch/simple_gui.launch new file mode 100644 index 0000000..857c366 --- /dev/null +++ b/Mira/mira/launch/simple_gui.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira/launch/slider_control.launch b/Mira/mira/launch/slider_control.launch new file mode 100644 index 0000000..8a19152 --- /dev/null +++ b/Mira/mira/launch/slider_control.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira/launch/teleop_keyboard.launch b/Mira/mira/launch/teleop_keyboard.launch new file mode 100644 index 0000000..565d5f8 --- /dev/null +++ b/Mira/mira/launch/teleop_keyboard.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira/launch/test.launch b/Mira/mira/launch/test.launch new file mode 100644 index 0000000..b6b508f --- /dev/null +++ b/Mira/mira/launch/test.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira/package.xml b/Mira/mira/package.xml new file mode 100644 index 0000000..2450d9d --- /dev/null +++ b/Mira/mira/package.xml @@ -0,0 +1,47 @@ + + + mira + 0.3.0 + The mira package + + ZhangLijun + ZhangLijun + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + mira_communication + + mira_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + mira_communication + + + + + + + + diff --git a/Mira/mira/scripts/follow_display.py b/Mira/mira/scripts/follow_display.py new file mode 100644 index 0000000..c69828d --- /dev/null +++ b/Mira/mira/scripts/follow_display.py @@ -0,0 +1,109 @@ +#!/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 diff --git a/Mira/mira/scripts/listen_real.py b/Mira/mira/scripts/listen_real.py new file mode 100644 index 0000000..0bb3ad6 --- /dev/null +++ b/Mira/mira/scripts/listen_real.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +# from mycobot_communication.srv import GetAngles +from mira_communication.srv import GetAngles +# from pymycobot.mypalletizer import MyPalletizer + + +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", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable. + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server. + # 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 + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + 0, + # res.joint_4 * (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 diff --git a/Mira/mira/scripts/listen_real_of_topic.py b/Mira/mira/scripts/listen_real_of_topic.py new file mode 100644 index 0000000..3ecc02d --- /dev/null +++ b/Mira/mira/scripts/listen_real_of_topic.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python2 +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +# from mycobot_communication.msg import MycobotAngles +from mira_communication.msg import MiraAngles + + +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("mypal/angles_real", MiraAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`mycobot/angles_real` subscriber callback method. + + Args: + data (MycobotAngles): 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", + # "joint6output_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), + ] + 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 diff --git a/Mira/mira/scripts/simple_gui.py b/Mira/mira/scripts/simple_gui.py new file mode 100644 index 0000000..ba3d5be --- /dev/null +++ b/Mira/mira/scripts/simple_gui.py @@ -0,0 +1,378 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +import tkinter as tk +from mira_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 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.get_date() + + # get screen width and height. 获取屏幕宽度和高度 + self.ws = self.win.winfo_screenwidth() + self.hs = self.win.winfo_screenheight() + # calculate x and y coordinates for the Tk root 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)) + # layout. 布局 + self.set_layout() + # input. 输入部分 + self.need_input() + # show info. 展示部分 + self.show_init() + + # Set joint button. 设置关节按钮 + tk.Button(self.frmLT, text="Set", width=5, command=self.get_joint_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # Set Coordinate button. 设置坐标按钮 + tk.Button(self.frmRT, text="Set", width=5, command=self.get_coord_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # Gripper Switch. 夹爪开关按钮 + tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid( + row=1, column=0, sticky="w", padx=3, pady=50 + ) + tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).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) + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) + tk.Label(self.frmRT, text=" z ").grid(row=2) + + + # 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.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]) + + + # joint input box. 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) + + + + # coord input box. 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) + + + + # 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,] + + + + # 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): + # display. 显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + + 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_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.speed, + ] + + 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.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + ] + + # display. 显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # the second row. 第二行 + tk.Label(self.frmLC, text=" z ").grid(row=2, 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_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.speed, + ] + + 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) + + # show label"mm" .mm 单位展示 + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(4): + 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: + 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 of 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): + # 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() + + print(self.res) + + 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), + 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) + + # 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("mycobot ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() diff --git a/Mira/mira/scripts/slider_control.py b/Mira/mira/scripts/slider_control.py new file mode 100644 index 0000000..ddd5201 --- /dev/null +++ b/Mira/mira/scripts/slider_control.py @@ -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/ttyUSB0' + baud: serial prot baudrate. Defaults is 115200. +""" + +import rospy +from sensor_msgs.msg import JointState + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(value) + + # print(data_list) + mc.send_radians(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备 + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyPalletizer(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() diff --git a/Mira/mira/scripts/teleop_keyboard.py b/Mira/mira/scripts/teleop_keyboard.py new file mode 100644 index 0000000..b1f6be5 --- /dev/null +++ b/Mira/mira/scripts/teleop_keyboard.py @@ -0,0 +1,159 @@ +#!/usr/bin/env python3 +from __future__ import print_function +# from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +from mira_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 = """\ +Mira Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + + + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 40) + 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, speed] + home_pose = [0,30, 30,speed] + + # rsp = set_angles(*init_pose) + + while True: + res = get_coords() + if res.x > 1: + break + time.sleep(0.1) + + record_coords = [res.x, res.y, res.z, speed, model] + + print(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 ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + record_coords = [res.x, res.y, res.z, speed, model] + elif key in "2": + rsp = set_angles(*home_pose) + record_coords = [res.x, res.y, res.z, speed, model] + 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[4] = 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 diff --git a/Mira/mira_communication/CMakeLists.txt b/Mira/mira_communication/CMakeLists.txt new file mode 100644 index 0000000..9375fb2 --- /dev/null +++ b/Mira/mira_communication/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mira_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 + MiraAngles.msg + MiraCoords.msg + MiraSetAngles.msg + MiraSetCoords.msg + MiraGripperStatus.msg + MiraPumpStatus.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/${PROJECT_NAME}/Mypal_commuication.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/Mypal_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/mira_services.py + scripts/mira_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_Mypal_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) diff --git a/Mira/mira_communication/LICENSE b/Mira/mira_communication/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/Mira/mira_communication/LICENSE @@ -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. diff --git a/Mira/mira_communication/launch/communication_jsnn.launch b/Mira/mira_communication/launch/communication_jsnn.launch new file mode 100644 index 0000000..5668bab --- /dev/null +++ b/Mira/mira_communication/launch/communication_jsnn.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Mira/mira_communication/launch/communication_seeed.launch b/Mira/mira_communication/launch/communication_seeed.launch new file mode 100644 index 0000000..07b6e57 --- /dev/null +++ b/Mira/mira_communication/launch/communication_seeed.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Mira/mira_communication/launch/communication_service.launch b/Mira/mira_communication/launch/communication_service.launch new file mode 100644 index 0000000..ae29117 --- /dev/null +++ b/Mira/mira_communication/launch/communication_service.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Mira/mira_communication/launch/communication_topic.launch b/Mira/mira_communication/launch/communication_topic.launch new file mode 100644 index 0000000..8e6b076 --- /dev/null +++ b/Mira/mira_communication/launch/communication_topic.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/Mira/mira_communication/launch/communication_topic_pi.launch b/Mira/mira_communication/launch/communication_topic_pi.launch new file mode 100644 index 0000000..c436d28 --- /dev/null +++ b/Mira/mira_communication/launch/communication_topic_pi.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Mira/mira_communication/msg/MiraAngles.msg b/Mira/mira_communication/msg/MiraAngles.msg new file mode 100644 index 0000000..0fccc03 --- /dev/null +++ b/Mira/mira_communication/msg/MiraAngles.msg @@ -0,0 +1,7 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +# float32 joint_4 +# float32 joint_5 +# float32 joint_6 diff --git a/Mira/mira_communication/msg/MiraCoords.msg b/Mira/mira_communication/msg/MiraCoords.msg new file mode 100644 index 0000000..2d11f66 --- /dev/null +++ b/Mira/mira_communication/msg/MiraCoords.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 z +# float32 rx +# float32 ry +# float32 rz \ No newline at end of file diff --git a/Mira/mira_communication/msg/MiraGripperStatus.msg b/Mira/mira_communication/msg/MiraGripperStatus.msg new file mode 100644 index 0000000..18d6277 --- /dev/null +++ b/Mira/mira_communication/msg/MiraGripperStatus.msg @@ -0,0 +1 @@ +bool Status \ No newline at end of file diff --git a/Mira/mira_communication/msg/MiraPumpStatus.msg b/Mira/mira_communication/msg/MiraPumpStatus.msg new file mode 100644 index 0000000..2373241 --- /dev/null +++ b/Mira/mira_communication/msg/MiraPumpStatus.msg @@ -0,0 +1,3 @@ +bool Status +int8 Pin1 +int8 Pin2 diff --git a/Mira/mira_communication/msg/MiraSetAngles.msg b/Mira/mira_communication/msg/MiraSetAngles.msg new file mode 100644 index 0000000..cab304e --- /dev/null +++ b/Mira/mira_communication/msg/MiraSetAngles.msg @@ -0,0 +1,9 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +# float32 joint_4 +# float32 joint_5 +# float32 joint_6 + +int8 speed diff --git a/Mira/mira_communication/msg/MiraSetCoords.msg b/Mira/mira_communication/msg/MiraSetCoords.msg new file mode 100644 index 0000000..6e66271 --- /dev/null +++ b/Mira/mira_communication/msg/MiraSetCoords.msg @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +# float32 rx +# float32 ry +# float32 rz + +int8 speed +int8 model diff --git a/Mira/mira_communication/package.xml b/Mira/mira_communication/package.xml new file mode 100644 index 0000000..85116b8 --- /dev/null +++ b/Mira/mira_communication/package.xml @@ -0,0 +1,86 @@ + + + mira_communication + 0.1.0 + The mira_communication package + + + + + zachary + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + rospy + std_msgs + message_generation + roscpp + rospy + actionlib + mycobot_description + + + + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + message_runtime + + + + + + + + diff --git a/Mira/mira_communication/scripts/mira_services.py b/Mira/mira_communication/scripts/mira_services.py new file mode 100644 index 0000000..08d4558 --- /dev/null +++ b/Mira/mira_communication/scripts/mira_services.py @@ -0,0 +1,148 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +import time +import rospy +# from mycobot_communication.srv import * +from mira_communication.srv import * + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + +mc = None + + +def create_handle(): + global mc + 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) + + +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): + angles = [ + 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) + + return SetAnglesResponse(True) + + +def get_angles(req): + if mc: + angles = mc.get_angles() + 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: + mc.send_coords(coords, sp, mod) + + return SetCoordsResponse(True) + + +def get_coords(req): + if mc: + coords = mc.get_coords() + return GetCoordsResponse(*coords) + + +def switch_status(req): + """Gripper switch,夹爪开关""" + if mc: + if req.Status: + mc.set_gripper_state(0, 80) + else: + mc.set_gripper_state(1, 80) + + 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) + + return PumpStatusResponse(True) + + +robot_msg = """ +Mira Status +-------------------------------- +Joint Limit: + joint 1: -170 ~ +170 + joint 2: 0 ~ 90 + joint 3: 0 ~ 75 + +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: + 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" + + print( + robot_msg % (connect_status, servo_infomation, + servo_temperature, atom_version) + ) + + +if __name__ == "__main__": + # print(MyCobot.__dict__) + create_handle() + output_robot_message() + create_services() diff --git a/Mira/mira_communication/scripts/mira_topics.py b/Mira/mira_communication/scripts/mira_topics.py new file mode 100644 index 0000000..ebcffe4 --- /dev/null +++ b/Mira/mira_communication/scripts/mira_topics.py @@ -0,0 +1,217 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy +from pymycobot.mypalletizer import MyPalletizer + +from mira_communication import( + MiraAngles, + MiraCoords, + MiraSetAngles, + MiraSetCoords, + MiraGripperStatus, + MiraPumpStatus, +) + + +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 MiraTopics(object): + def __init__(self): + super(MiraTopics, self).__init__() + + rospy.init_node("Mira_topics") + rospy.loginfo("start ...") + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyPalletizer(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("Mypal/angles_real", + MiraAngles, queue_size=5) + ma = MiraAngles() + 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("Mypal/coords_real", + MiraCoords, queue_size=5) + ma = MiraCoords() + + 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( + "Mypal/angles_goal", MiraSetAngles, 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] + angles = [data.x, data.y, data.z, data.rx] + + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "Mypal/coords_goal", MiraSetCoords, 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( + "Mypal/gripper_status", MiraGripperStatus, 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( + "Mypal/pump_status", MiraPumpStatus, callback=callback + ) + rospy.spin() + + +if __name__ == "__main__": + Watcher() + mc_topics = MiraTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/Mira/mira_communication/scripts/mira_topics_seeed.py b/Mira/mira_communication/scripts/mira_topics_seeed.py new file mode 100644 index 0000000..fa40b10 --- /dev/null +++ b/Mira/mira_communication/scripts/mira_topics_seeed.py @@ -0,0 +1,213 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mira_communication import ( + MiraAngles, + MiraCoords, + MiraSetAngles, + MiraSetCoords, + MiraGripperStatus, + MiraPumpStatus, +) +from pymycobot.mypalletizer import Mypalletizer + + +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 MiraTopics(object): + def __init__(self): + super(MiraTopics, self).__init__() + + rospy.init_node("Mira_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 = Mypalletizer(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("Mira/angles_real", MiraAngles, queue_size=5) + ma = MiraAngles() + 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("Mira/coords_real", MiraCoords, queue_size=5) + ma = MiraCoords() + + 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( + "Mira/angles_goal", MiraSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "Mira/coords_goal", MiraSetCoords, 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( + "Mira/gripper_status", MiraGripperStatus, 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( + "Mira/pump_status", MiraPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MiraTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/Mira/mira_communication/scripts/test.py b/Mira/mira_communication/scripts/test.py new file mode 100644 index 0000000..e9cb605 --- /dev/null +++ b/Mira/mira_communication/scripts/test.py @@ -0,0 +1,7 @@ +from pymycobot.mypalletizer import MyPalletizer +mp = MyPalletizer("/dev/ttyUSB0", 115200) +n = mp.get_angles() +# while(1): +# print(mp.get_angles()) + # print(mp.get_radians()) +mp.send_angles([100,0,0,150],30) \ No newline at end of file diff --git a/Mira/mira_communication/srv/GetAngles.srv b/Mira/mira_communication/srv/GetAngles.srv new file mode 100644 index 0000000..135c6d1 --- /dev/null +++ b/Mira/mira_communication/srv/GetAngles.srv @@ -0,0 +1,11 @@ + +--- +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +# float32 joint_4 +# float32 joint_5 +# float32 joint_6 + + diff --git a/Mira/mira_communication/srv/GetCoords.srv b/Mira/mira_communication/srv/GetCoords.srv new file mode 100644 index 0000000..c1121c2 --- /dev/null +++ b/Mira/mira_communication/srv/GetCoords.srv @@ -0,0 +1,9 @@ + +--- + +float32 x +float32 y +float32 z +# float32 rx +# float32 ry +# float32 rz \ No newline at end of file diff --git a/Mira/mira_communication/srv/GripperStatus.srv b/Mira/mira_communication/srv/GripperStatus.srv new file mode 100644 index 0000000..3887d75 --- /dev/null +++ b/Mira/mira_communication/srv/GripperStatus.srv @@ -0,0 +1,5 @@ +bool Status + +--- + +bool Flag \ No newline at end of file diff --git a/Mira/mira_communication/srv/PumpStatus.srv b/Mira/mira_communication/srv/PumpStatus.srv new file mode 100644 index 0000000..8bd4b53 --- /dev/null +++ b/Mira/mira_communication/srv/PumpStatus.srv @@ -0,0 +1,7 @@ +bool Status +int8 Pin1 +int8 Pin2 + +--- + +bool Flag \ No newline at end of file diff --git a/Mira/mira_communication/srv/SetAngles.srv b/Mira/mira_communication/srv/SetAngles.srv new file mode 100644 index 0000000..11bb277 --- /dev/null +++ b/Mira/mira_communication/srv/SetAngles.srv @@ -0,0 +1,15 @@ +# float32 base +float32 joint_1 +float32 joint_2 +float32 joint_3 +# float32 joint_4 +# float32 joint_5 +# float32 joint_6 + + + +int8 speed + +--- + +bool Flag \ No newline at end of file diff --git a/Mira/mira_communication/srv/SetCoords.srv b/Mira/mira_communication/srv/SetCoords.srv new file mode 100644 index 0000000..8052408 --- /dev/null +++ b/Mira/mira_communication/srv/SetCoords.srv @@ -0,0 +1,13 @@ +float32 x +float32 y +float32 z +# float32 rx +# float32 ry +# float32 rz + +int8 speed +int8 model + +--- + +bool Flag \ No newline at end of file diff --git a/Mira/mira_moveit/CMakeLists.txt b/Mira/mira_moveit/CMakeLists.txt new file mode 100644 index 0000000..0d00e2d --- /dev/null +++ b/Mira/mira_moveit/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mira_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + scripts/path_planning_and_obstacle_avoidance_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/Mira/mira_moveit/LICENSE b/Mira/mira_moveit/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/Mira/mira_moveit/LICENSE @@ -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. diff --git a/Mira/mira_moveit/config/chomp_planning.yaml b/Mira/mira_moveit/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/Mira/mira_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/Mira/mira_moveit/config/fake_controllers.yaml b/Mira/mira_moveit/config/fake_controllers.yaml new file mode 100644 index 0000000..f25d617 --- /dev/null +++ b/Mira/mira_moveit/config/fake_controllers.yaml @@ -0,0 +1,10 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + # - joint4_to_joint3 + # - joint5_to_joint4 + + # - joint6output_to_joint6 \ No newline at end of file diff --git a/Mira/mira_moveit/config/firefighter.srdf b/Mira/mira_moveit/config/firefighter.srdf new file mode 100644 index 0000000..05695ba --- /dev/null +++ b/Mira/mira_moveit/config/firefighter.srdf @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/config/joint_limits.yaml b/Mira/mira_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..1a3e51c --- /dev/null +++ b/Mira/mira_moveit/config/joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + 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 + # joint6output_to_joint6: + # has_velocity_limits: false + # max_velocity: 0 + # has_acceleration_limits: false + # max_acceleration: 0 \ No newline at end of file diff --git a/Mira/mira_moveit/config/kinematics.yaml b/Mira/mira_moveit/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/Mira/mira_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/Mira/mira_moveit/config/ompl_planning.yaml b/Mira/mira_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..6c2d3f5 --- /dev/null +++ b/Mira/mira_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: RRT + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/Mira/mira_moveit/config/ros_controllers.yaml b/Mira/mira_moveit/config/ros_controllers.yaml new file mode 100644 index 0000000..df8b7e0 --- /dev/null +++ b/Mira/mira_moveit/config/ros_controllers.yaml @@ -0,0 +1,27 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + # - joint4_to_joint3 + # - joint5_to_joint4 + # - joint6_to_joint5 + # - joint6output_to_joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/Mira/mira_moveit/config/sensors_3d.yaml b/Mira/mira_moveit/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/Mira/mira_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..d13fe5a --- /dev/null +++ b/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/default_warehouse_db.launch b/Mira/mira_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..d29e0a2 --- /dev/null +++ b/Mira/mira_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/demo.launch b/Mira/mira_moveit/launch/demo.launch new file mode 100644 index 0000000..caa26a0 --- /dev/null +++ b/Mira/mira_moveit/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/demo_gazebo.launch b/Mira/mira_moveit/launch/demo_gazebo.launch new file mode 100644 index 0000000..fbefc95 --- /dev/null +++ b/Mira/mira_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..35e626d --- /dev/null +++ b/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..b86326e --- /dev/null +++ b/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/Mira/mira_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/Mira/mira_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/Mira/mira_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/Mira/mira_moveit/launch/gazebo.launch b/Mira/mira_moveit/launch/gazebo.launch new file mode 100644 index 0000000..2d3e521 --- /dev/null +++ b/Mira/mira_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/joystick_control.launch b/Mira/mira_moveit/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/Mira/mira_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/mira_moveit.launch b/Mira/mira_moveit/launch/mira_moveit.launch new file mode 100644 index 0000000..caa26a0 --- /dev/null +++ b/Mira/mira_moveit/launch/mira_moveit.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/move_group.launch b/Mira/mira_moveit/launch/move_group.launch new file mode 100644 index 0000000..6f9f32e --- /dev/null +++ b/Mira/mira_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/moveit.rviz b/Mira/mira_moveit/launch/moveit.rviz new file mode 100644 index 0000000..efe5c75 --- /dev/null +++ b/Mira/mira_moveit/launch/moveit.rviz @@ -0,0 +1,223 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planning Metrics1 + - /MotionPlanning1/Planned Path1 + - /MotionPlanning1/Planned Path1/Links1 + Splitter Ratio: 0.7425600290298462 + Tree Height: 184 + - 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: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_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 + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + 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: 0.07999999821186066 + 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: 0.20000000298023224 + 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 + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: 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/XYOrbit + Distance: 1.3915867805480957 + 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: 0.11356700211763382 + Y: 0.10592000186443329 + Z: 2.2351800055275817e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.14020325243473053 + Target Frame: link1 + Yaw: 2.3235831260681152 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 888 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f30000031efc0200000007fb000000100044006900730070006c006100790073010000003d00000149000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000018c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d3000001880000017d00ffffff0000053f0000031e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/Mira/mira_moveit/launch/moveit_rviz.launch b/Mira/mira_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..d982006 --- /dev/null +++ b/Mira/mira_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..e2b93d2 --- /dev/null +++ b/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/planning_context.launch b/Mira/mira_moveit/launch/planning_context.launch new file mode 100644 index 0000000..9f25aa8 --- /dev/null +++ b/Mira/mira_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/planning_pipeline.launch.xml b/Mira/mira_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..1cd93db --- /dev/null +++ b/Mira/mira_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/Mira/mira_moveit/launch/ros_controllers.launch b/Mira/mira_moveit/launch/ros_controllers.launch new file mode 100644 index 0000000..21be924 --- /dev/null +++ b/Mira/mira_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/run_benchmark_ompl.launch b/Mira/mira_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..f6192ff --- /dev/null +++ b/Mira/mira_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/sensor_manager.launch.xml b/Mira/mira_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..fb84ddb --- /dev/null +++ b/Mira/mira_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/setup_assistant.launch b/Mira/mira_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..ef1cef3 --- /dev/null +++ b/Mira/mira_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/trajectory_execution.launch.xml b/Mira/mira_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..695c8e6 --- /dev/null +++ b/Mira/mira_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/warehouse.launch b/Mira/mira_moveit/launch/warehouse.launch new file mode 100644 index 0000000..46d33bf --- /dev/null +++ b/Mira/mira_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/launch/warehouse_settings.launch.xml b/Mira/mira_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/Mira/mira_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/Mira/mira_moveit/package.xml b/Mira/mira_moveit/package.xml new file mode 100644 index 0000000..b093f1d --- /dev/null +++ b/Mira/mira_moveit/package.xml @@ -0,0 +1,40 @@ + + + mira_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + zachary + zachary + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + + mycobot_description + + + diff --git a/Mira/mira_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/Mira/mira_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py new file mode 100644 index 0000000..3584da0 --- /dev/null +++ b/Mira/mira_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy, roslib, sys +import moveit_commander +from moveit_msgs.msg import RobotTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from geometry_msgs.msg import PoseStamped, Pose +from tf.transformations import euler_from_quaternion, quaternion_from_euler + + +class MoveItPlanningDemo: + def __init__(self): + # API to initialize move_group. 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # Initialize the ROS node,初始化ROS节点 + rospy.init_node("moveit_ik_demo") + + # Initialize the scene object to listen for changes in the external environment + # 初始化场景对象，用来监听外部环境的变化 + self.scene = moveit_commander.PlanningSceneInterface() + rospy.sleep(1) + + # Initialize self.arm group in the robotic arm that needs to be controlled by move group + # 初始化需要使用move group控制的机械臂中的self.arm group + self.arm = moveit_commander.MoveGroupCommander("arm_group") + + # Get the name of the terminal link. 获取终端link的名称 + self.end_effector_link = self.arm.get_end_effector_link() + + # Set the reference coordinate system used for the target position. + # 设置目标位置所使用的参考坐标系 + self.reference_frame = "joint1" + self.arm.set_pose_reference_frame(self.reference_frame) + + # Allow replanning when motion planning fails. + # 当运动规划失败后，允许重新规划 + self.arm.allow_replanning(True) + + # Set the allowable error of position (unit: meter) and attitude (unit: radian). + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm.set_goal_position_tolerance(0.01) + self.arm.set_goal_orientation_tolerance(0.05) + + def moving(self): + # Control the robotic arm to return to the initialization position first. 控制机械臂先回到初始化位置 + self.arm.set_named_target("init_pose") + self.arm.go() + rospy.sleep(2) + + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.132 + target_pose.pose.position.y = -0.150 + target_pose.pose.position.z = 0.075 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # Set the current state of the robot arm as the initial state of motion. 设置机器臂当前的状态作为运动初始状态 + self.arm.set_start_state_to_current_state() + + # Set the target pose of the terminal motion of the robotic arm. 设置机械臂终端运动的目标位姿 + self.arm.set_pose_target(target_pose, self.end_effector_link) + + traj = self.arm.plan() + + # Control the motion of the robotic arm according to the planned motion path. 按照规划的运动路径控制机械臂运动 + self.arm.execute(traj) + rospy.sleep(1) + + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端向右移动5cm 參数1是代表y， 0,1,2,3,4,5 代表xyzrpy + self.arm.shift_pose_target(1, 0.12, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + self.arm.shift_pose_target(1, 0.1, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + # Control the end of the robotic arm to rotate 90 degrees in reverse, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端反向旋转90度, 0,1,2,3,4,5 代表xyzrpy + # self.arm.shift_pose_target(3, -1.57, end_effector_link) + # self.arm.go() + # rospy.sleep(1) + + def run(self): + self.scene.remove_world_object("suit") + + self.moving() + + # Add the environment. 添加环境 + quat = quaternion_from_euler(3.1415, 0, -1.57) + + suit_post = PoseStamped() + suit_post.header.frame_id = self.reference_frame + suit_post.pose.position.x = 0.0 + suit_post.pose.position.y = 0.0 + suit_post.pose.position.z = -0.02 + suit_post.pose.orientation.x = quat[0] + suit_post.pose.orientation.y = quat[1] + suit_post.pose.orientation.z = quat[2] + suit_post.pose.orientation.w = quat[3] + + suit_path = ( + roslib.packages.get_pkg_dir("mycobot_description") + + "/urdf/mycobot/suit_env.dae" + ) + # need `pyassimp==3.3` + self.scene.add_mesh("suit", suit_post, suit_path) + rospy.sleep(2) + + # Run again if there is environmental impact. 有环境影响后再运行一次 + self.moving() + + # Close and exit moveit. 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == "__main__": + o = MoveItPlanningDemo() + o.run() diff --git a/Mira/mira_moveit/scripts/sync_plan.py b/Mira/mira_moveit/scripts/sync_plan.py new file mode 100644 index 0000000..6b5b018 --- /dev/null +++ b/Mira/mira_moveit/scripts/sync_plan.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +import time +import rospy +from sensor_msgs.msg import JointState + +# from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + + +mc = None + + +def callback(data): + rospy.loginfo(rospy.get_caller_id() + "%s", data) + data_list = [] + for index, value in enumerate(data.position): + # if index != 2: + # value *= -1 + data_list.append(value) + # print("data_list:",data_list) + mc.send_radians(data_list, 80) + + +def listener(): + global mc + rospy.init_node("mypal_reciver", anonymous=True) + + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyPalletizer(port, baud) + + rospy.Subscriber("joint_states", JointState, callback) + + # 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 + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mycobot_description/urdf/mira_urdf/Mira-1.dae b/mycobot_description/urdf/mira_urdf/Mira-1.dae new file mode 100644 index 0000000..2e36de4 --- /dev/null +++ b/mycobot_description/urdf/mira_urdf/Mira-1.dae @@ -0,0 +1,256 @@ + + + + + Blender User + Rhinoceros 7.5.21082.11001 + Output from Rhinoceros COLLADA Exporter + + 2022-08-23T06:40:51Z + 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4 4 4 5 5 5 0 0 0 5 5 5 25 25 25 24 24 24 7 7 7 23 23 23 22 22 22 8 8 8 22 22 22 21 21 21 6 6 6 24 24 24 23 23 23 1 1 1 25 25 25 4 4 4 25 25 25 5 5 5 4 4 4 9 9 9 21 21 21 20 20 20 10 10 10 20 20 20 19 19 19 11 11 11 19 19 19 18 18 18 14 14 14 13 13 13 17 17 17 15 15 15 2 2 2 14 14 14 13 13 13 12 12 12 18 18 18 15 15 15 16 16 16 3 3 3 16 16 16 15 15 15 14 14 14 31 31 31 32 32 32 26 26 26 32 32 32 51 51 51 50 50 50 34 34 34 49 49 49 48 48 48 35 35 35 48 48 48 47 47 47 33 33 33 50 50 50 49 49 49 27 27 27 51 51 51 31 31 31 51 51 51 32 32 32 31 31 31 36 36 36 47 47 47 46 46 46 37 37 37 46 46 46 45 45 45 39 39 39 38 38 38 45 45 45 41 41 41 40 40 40 43 43 43 30 30 30 28 28 28 41 41 41 40 40 40 39 39 39 44 44 44 30 30 30 42 42 42 29 29 29 42 42 42 30 30 30 41 41 41 83 83 83 186 186 186 84 84 84 82 82 82 187 187 187 83 83 83 85 85 85 84 84 84 185 185 185 183 183 183 87 87 87 184 184 184 185 185 185 86 86 86 85 85 85 87 87 87 86 86 86 184 184 184 183 183 183 88 88 88 87 87 87 184 184 184 86 86 86 185 185 185 111 111 111 110 110 110 188 188 188 109 109 109 189 189 189 110 110 110 188 188 188 80 80 80 111 111 111 83 83 83 187 187 187 186 186 186 185 185 185 84 84 84 186 186 186 81 81 81 188 188 188 187 187 187 82 82 82 81 81 81 187 187 187 80 80 80 188 188 188 81 81 81 110 110 110 189 189 189 188 188 188 182 182 182 90 90 90 89 89 89 89 89 89 183 183 183 182 182 182 182 182 182 181 181 181 90 90 90 88 88 88 183 183 183 89 89 89 181 181 181 92 92 92 91 91 91 92 92 92 180 180 180 93 93 93 181 181 181 180 180 180 92 92 92 94 94 94 93 93 93 179 179 179 90 90 90 181 181 181 91 91 91 179 179 179 93 93 93 180 180 180 99 99 99 178 178 178 177 177 177 178 178 178 95 95 95 179 179 179 96 96 96 178 178 178 97 97 97 178 178 178 99 99 99 98 98 98 98 98 98 97 97 97 178 178 178 95 95 95 178 178 178 96 96 96 179 179 179 95 95 95 94 94 94 100 100 100 99 99 99 177 177 177 189 189 189 107 107 107 106 106 106 106 106 106 105 105 105 190 190 190 108 108 108 107 107 107 189 189 189 106 106 106 190 190 190 189 189 189 192 192 192 191 191 191 103 103 103 191 191 191 190 190 190 104 104 104 104 104 104 190 190 190 105 105 105 189 189 189 109 109 109 108 108 108 193 193 193 192 192 192 101 101 101 102 102 102 192 192 192 103 103 103 192 192 192 102 102 102 101 101 101 191 191 191 104 104 104 103 103 103 116 116 116 115 115 115 193 193 193 193 193 193 101 101 101 116 116 116 172 172 172 115 115 115 114 114 114 114 114 114 113 113 113 173 173 173 173 173 173 172 172 172 114 114 114 193 193 193 115 115 115 172 172 172 76 76 76 176 176 176 175 175 175 174 174 174 173 173 173 112 112 112 78 78 78 175 175 175 174 174 174 74 74 74 177 177 177 75 75 75 176 176 176 76 76 76 75 75 75 175 175 175 77 77 77 76 76 76 177 177 177 176 176 176 75 75 75 175 175 175 78 78 78 77 77 77 174 174 174 112 112 112 79 79 79 79 79 79 112 112 112 122 122 122 122 122 122 167 167 167 79 79 79 78 78 78 174 174 174 79 79 79 121 121 121 168 168 168 167 167 167 168 168 168 121 121 121 120 120 120 120 120 120 119 119 119 169 169 169 169 169 169 168 168 168 120 120 120 122 122 122 121 121 121 167 167 167 113 113 113 112 112 112 173 173 173 177 177 177 74 74 74 100 100 100 119 119 119 118 118 118 170 170 170 118 118 118 117 117 117 171 171 171 171 171 171 170 170 170 118 118 118 169 169 169 119 119 119 170 170 170 127 127 127 65 65 65 117 117 117 127 127 127 126 126 126 66 66 66 162 162 162 117 117 117 65 65 65 171 171 171 117 117 117 162 162 162 67 67 67 125 125 125 124 124 124 68 68 68 123 123 123 161 161 161 123 123 123 68 68 68 124 124 124 65 65 65 127 127 127 66 66 66 124 124 124 68 68 68 67 67 67 125 125 125 67 67 67 66 66 66 126 126 126 125 125 125 66 66 66 65 65 65 64 64 64 162 162 162 160 160 160 68 68 68 161 161 161 64 64 64 163 163 163 162 162 162 64 64 64 63 63 63 164 164 164 165 165 165 63 63 63 62 62 62 164 164 164 63 63 63 165 165 165 163 163 163 64 64 64 164 164 164 62 62 62 128 128 128 166 166 166 130 130 130 129 129 129 61 61 61 128 128 128 61 61 61 129 129 129 62 62 62 166 166 166 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