将 ros中cobotx相关的名称重命名为mercury

Mercury/mercury_a1/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(cobotx_a450)
+project(mercury_a1)
 add_compile_options(-std=c++11)
 
 ## Find catkin and any catkin packages

Mercury/mercury_a1/launch/mycobot_follow.launch

@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF file,加载URDF文件 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 	<!-- Combinejoin values to TF ，将值合并到TF-->

Mercury/mercury_a1/launch/simple_gui.launch

@@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyAMA1" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
+    <include file="$(find mercury_a1_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
-	<node name="simple_gui" pkg="cobotx_a450" type="simple_gui.py" />
+	<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
+	<node name="simple_gui" pkg="mercury_a1" type="simple_gui.py" />
 </launch>

Mercury/mercury_a1/launch/slider_control.launch

@@ -2,8 +2,8 @@
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
 	<!-- Load file model ，加载文件模型-->	
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_b450/cobotx_b450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_b450)/config/cobotx_b450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

Mercury/mercury_a1/launch/teleop_keyboard.launch

@@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyAMA1" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
+    <include file="$(find mercury_a1_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
+	<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
 </launch>

Mercury/mercury_a1/launch/test.launch

@@ -1,6 +1,6 @@
 <launch>
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

Mercury/mercury_a1/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>cobotx_b450</name>
+  <name>mercury_a1</name>
   <version>0.3.0</version>
-  <description>The cobotx_b450 package</description>
+  <description>The mercury_a1 package</description>
 
   <author email="weijian.wang@elephantrobotics.com">Wangweijian</author>
   <maintainer email="weijian.wang@elephantrobotics.com">Wangweijian</maintainer>
@@ -18,9 +18,9 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>mycobot_description</build_depend>
-  <build_depend>cobotx_a450_communication</build_depend>
+  <build_depend>mercury_a1_communication</build_depend>
 
-  <build_export_depend>cobotx_a450_communication</build_export_depend>
+  <build_export_depend>mercury_a1_communication</build_export_depend>
   <build_export_depend>mycobot_description</build_export_depend>
 
   <exec_depend>roscpp</exec_depend>
@@ -36,7 +36,7 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>python-tk</exec_depend>
   <exec_depend>mycobot_description</exec_depend>
-  <exec_depend>cobotx_a450_communication</exec_depend>
+  <exec_depend>mercury_a1_communication</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

Mercury/mercury_a1/scripts/follow_display.py

@@ -6,24 +6,24 @@ from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 
 def talker():
     rospy.init_node("display", anonymous=True)
 
-    print("Try connect real CobotX...")
+    print("Try connect real Mercury...")
     port = rospy.get_param("~port", "/dev/ttyAMA1")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
-        mc = CobotX(port, baud)
+        mc = Mercury(port, baud)
     except Exception as e:
         print(e)
         print(
             """\
-            \rTry connect CobotX failed!
-            \rPlease check wether connected with CobotX.
+            \rTry connect Mercury failed!
+            \rPlease check wether connected with Mercury.
             \rPlease chckt wether the port or baud is right.
         """
         )

Mercury/mercury_a1/scripts/listen_real.py

@@ -7,7 +7,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from cobotx_a450_communication.srv import GetAngles
+from mercury_a1_communication.srv import GetAngles
 
 
 def talker():

Mercury/mercury_a1/scripts/listen_real_of_topic.py

@@ -5,7 +5,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from cobotx_a450_communication.msg import CobotXAngles
+from mercury_a1_communication.msg import MercuryAngles
 
 
 class Listener(object):
@@ -17,14 +17,14 @@ class Listener(object):
         # init publisher.初始化发布者
         self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
         # init subscriber.初始化订阅者
-        self.sub = rospy.Subscriber("myarm/angles_real", CobotXAngles, self.callback)
+        self.sub = rospy.Subscriber("myarm/angles_real", MercuryAngles, self.callback)
         rospy.spin()
 
     def callback(self, data):
-        """`cobotx/angles_real` subscriber callback method.
+        """`mercury/angles_real` subscriber callback method.
 
         Args:
-            data (CobotXAngles): callback argument.
+            data (MercuryAngles): callback argument.
         """
         # ini publisher object. 初始化发布者对象
         joint_state_send = JointState()

Mercury/mercury_a1/scripts/simple_gui.py

@@ -4,7 +4,7 @@ try:
     import tkinter as tk
 except ImportError:
     import Tkinter as tk
-from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
 import time
 from rospy import ServiceException
@@ -493,7 +493,7 @@ class Window:
 
 def main():
     window = tk.Tk()
-    window.title("CobotX ros GUI")
+    window.title("Mercury ros GUI")
     Window(window).run()
 
 

Mercury/mercury_a1/scripts/slider_control.py

@@ -12,7 +12,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 
 mc = None
@@ -20,7 +20,9 @@ mc = None
 
 def callback(data):
     # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
-    print(data.position)
+    # print(data.position)
+    rounded_data_tuple = tuple(round(value, 2) for value in data.position)
+    rospy.loginfo(rospy.get_caller_id() + "%s", rounded_data_tuple)
     data_list = []
     for index, value in enumerate(data.position):
         radians_to_angles = math.degrees(value)
@@ -39,7 +41,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA1")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = CobotX(port, baud)
+    mc = Mercury(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

Mercury/mercury_a1/scripts/teleop_keyboard.py

@@ -1,18 +1,16 @@
 #!/usr/bin/env python3
 from __future__ import print_function
-from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
 import sys
-import select
 import termios
 import tty
 import time
 
-import roslib
 
 # Terminal output prompt information. 终端输出提示信息
 msg = """\
-CobotX Teleop Keyboard Controller
+Mercury Teleop Keyboard Controller
 ---------------------------
 Movimg options(control coordinations [x,y,z,rx,ry,rz]):
               w(x+)

Mercury/mercury_a1_communication/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(cobotx_a450_communication)
+project(mercury_a1_communication)
 add_compile_options(-std=c++11)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -50,12 +50,12 @@ find_package(catkin REQUIRED COMPONENTS
 
 ## Generate messages in the 'msg' folder
 add_message_files(FILES
-  CobotXAngles.msg
-  CobotXCoords.msg
-  CobotXSetAngles.msg
-  CobotXSetCoords.msg
-  CobotXGripperStatus.msg
-  CobotXPumpStatus.msg
+  MercuryAngles.msg
+  MercuryCoords.msg
+  MercurySetAngles.msg
+  MercurySetCoords.msg
+  MercuryGripperStatus.msg
+  MercuryPumpStatus.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -169,8 +169,8 @@ include_directories(
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
-  scripts/cobotx_services.py
-  scripts/cobotx_topics.py
+  scripts/mercury_services.py
+  scripts/mercury_topics.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

Mercury/mercury_a1_communication/launch/communication_service.launch

@@ -6,7 +6,7 @@
 
 
 	<!-- Open communication service ，开启通讯服务-->
-	<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_services.py" output="screen">
+	<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_services.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     </node>

Mercury/mercury_a1_communication/launch/communication_topic.launch

@@ -4,7 +4,7 @@
 	<arg name="baud" default="115200" />
 
 	<!-- Open communication service，开启通讯服务 -->
-	<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics.py" output="screen">
+	<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_topics.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     </node>

Mercury/mercury_a1_communication/launch/communication_topic_pi.launch

@@ -4,7 +4,7 @@
 	<arg name="baud" default="115200" />
 
 	<!-- Open communication service --><!-- 开启通讯服务 -->
-	<node name="cobotx_services" pkg="cobotx_a450_communication" type="cobotx_topics_pi.py" output="screen">
+	<node name="mercury_services" pkg="mercury_a1_communication" type="mercury_topics_pi.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     	</node>

Mercury/mercury_a1_communication/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>cobotx_a450_communication</name>
+  <name>mercury_a1_communication</name>
   <version>0.1.0</version>
-  <description>The cobotx_a450_communication package</description>
+  <description>The mercury_a1_communication package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

Mercury/mercury_a1_communication/scripts/mercury_services.py

@@ -4,9 +4,9 @@ import time
 import rospy
 import os
 import fcntl
-from cobotx_a450_communication.srv import *
+from mercury_a1_communication.srv import *
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 mc = None
 
@@ -51,12 +51,12 @@ def release(lock_file_fd):
 
 def create_handle():
     global mc
-    rospy.init_node("cobotx")
+    rospy.init_node("mercury")
     rospy.loginfo("start ...")
     port = rospy.get_param("~port")
     baud = rospy.get_param("~baud")
     rospy.loginfo("%s,%s" % (port, baud))
-    mc = CobotX(port, baud)
+    mc = Mercury(port, baud)
 
 
 def create_services():
@@ -84,7 +84,7 @@ def set_angles(req):
     sp = req.speed
 
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         mc.send_angles(angles, sp)
         release(lock)
 
@@ -94,7 +94,7 @@ def set_angles(req):
 def get_angles(req):
     """get angles,获取角度"""
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         angles = mc.get_angles()
         release(lock)
         return GetAnglesResponse(*angles)
@@ -113,7 +113,7 @@ def set_coords(req):
     mod = req.model
 
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         mc.send_coords(coords, sp, mod)
         release(lock)
 
@@ -122,7 +122,7 @@ def set_coords(req):
 
 def get_coords(req):
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         coords = mc.get_coords()
         release(lock)
         return GetCoordsResponse(*coords)
@@ -132,7 +132,7 @@ def switch_status(req):
     """Gripper switch status"""
     """夹爪开关状态"""
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         if req.Status:
             mc.set_gripper_state(0, 80)
         else:
@@ -144,7 +144,7 @@ def switch_status(req):
 
 def toggle_pump(req):
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         if req.Status:
             mc.set_basic_output(req.Pin1, 0)
             mc.set_basic_output(req.Pin2, 0)
@@ -158,7 +158,7 @@ def toggle_pump(req):
 
 
 robot_msg = """
-Cobotx Status
+Mercury Status
 --------------------------------
 Joint Limit:
     joint 1: -165 ~ +165
@@ -186,13 +186,13 @@ def output_robot_message():
     atom_version = "unknown"
 
     if mc:
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         cn = mc.is_controller_connected()
         release(lock)
         if cn == 1:
             connect_status = True
         time.sleep(0.1)
-        lock = acquire("/tmp/cobotx_lock")
+        lock = acquire("/tmp/mercury_lock")
         si = mc.is_all_servo_enable()
         release(lock)
         if si == 1:

Mercury/mercury_a1_communication/scripts/mercury_topics.py

@@ -8,16 +8,16 @@ import threading
 
 import rospy
 
-from cobotx_a450_communication.msg import (
-    CobotXAngles,
-    CobotXCoords,
-    CobotXSetAngles,
-    CobotXSetCoords,
-    CobotXGripperStatus,
-    CobotXPumpStatus,
+from mercury_a1_communication.msg import (
+    MercuryAngles,
+    MercuryCoords,
+    MercurySetAngles,
+    MercurySetCoords,
+    MercuryGripperStatus,
+    MercuryPumpStatus,
 )
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 
 class Watcher:
@@ -64,11 +64,11 @@ class Watcher:
             pass
 
 
-class CobotXTopics(object):
+class MercuryTopics(object):
     def __init__(self):
-        super(CobotXTopics, self).__init__()
+        super(MercuryTopics, self).__init__()
 
-        rospy.init_node("cobotx_topics")
+        rospy.init_node("mercury_topics")
         rospy.loginfo("start ...")
         # port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
         port = rospy.get_param("~port", "/dev/ttyAMA1")
@@ -76,7 +76,7 @@ class CobotXTopics(object):
             port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
-        self.mc = CobotX(port, baud)
+        self.mc = Mercury(port, baud)
         self.lock = threading.Lock()
 
     def start(self):
@@ -110,9 +110,9 @@ class CobotXTopics(object):
     def pub_real_angles(self):
         """Publish real angle"""
         """发布真实角度"""
-        pub = rospy.Publisher("cobotx/angles_real",
-                              CobotXAngles, queue_size=5)
-        ma = CobotXAngles()
+        pub = rospy.Publisher("mercury/angles_real",
+                              MercuryAngles, queue_size=5)
+        ma = MercuryAngles()
         while not rospy.is_shutdown():
             self.lock.acquire()
             angles = self.mc.get_angles()
@@ -131,9 +131,9 @@ class CobotXTopics(object):
     def pub_real_coords(self):
         """publish real coordinates"""
         """发布真实坐标"""
-        pub = rospy.Publisher("cobotx/coords_real",
-                              CobotXCoords, queue_size=5)
-        ma = CobotXCoords()
+        pub = rospy.Publisher("mercury/coords_real",
+                              MercuryCoords, queue_size=5)
+        ma = MercuryCoords()
 
         while not rospy.is_shutdown():
             self.lock.acquire()
@@ -166,7 +166,7 @@ class CobotXTopics(object):
             self.mc.send_angles(angles, sp)
 
         sub = rospy.Subscriber(
-            "cobotx/angles_goal", CobotXSetAngles, callback=callback
+            "mercury/angles_goal", MercurySetAngles, callback=callback
         )
         rospy.spin()
 
@@ -178,7 +178,7 @@ class CobotXTopics(object):
             self.mc.send_coords(angles, sp, model)
 
         sub = rospy.Subscriber(
-            "cobotx/coords_goal", CobotXSetCoords, callback=callback
+            "mercury/coords_goal", MercurySetCoords, callback=callback
         )
         rospy.spin()
 
@@ -192,7 +192,7 @@ class CobotXTopics(object):
                 self.mc.set_gripper_state(1, 80)
 
         sub = rospy.Subscriber(
-            "cobotx/gripper_status", CobotXGripperStatus, callback=callback
+            "mercury/gripper_status", MercuryGripperStatus, callback=callback
         )
         rospy.spin()
 
@@ -206,14 +206,14 @@ class CobotXTopics(object):
                 self.mc.set_basic_output(data.Pin2, 1)
 
         sub = rospy.Subscriber(
-            "cobotx/pump_status", CobotXPumpStatus, callback=callback
+            "mercury/pump_status", MercuryPumpStatus, callback=callback
         )
         rospy.spin()
 
 
 if __name__ == "__main__":
     Watcher()
-    mc_topics = CobotXTopics()
+    mc_topics = MercuryTopics()
     mc_topics.start()
     # while True:
     #     mc_topics.pub_real_coords()

Mercury/mercury_a1_communication/scripts/mercury_topics_pi.py

@@ -8,17 +8,17 @@ import threading
 
 import rospy
 
-from cobotx_a450_communication.msg import (
-    CobotXAngles,
-    CobotXCoords,
-    CobotXSetAngles,
-    CobotXSetCoords,
-    CobotXGripperStatus,
-    CobotXPumpStatus,
+from mercury_a1_communication.msg import (
+    MercuryAngles,
+    MercuryCoords,
+    MercurySetAngles,
+    MercurySetCoords,
+    MercuryGripperStatus,
+    MercuryPumpStatus,
 )
 
 
-from pymycobot import CobotX
+from pymycobot.mercury import Mercury
 
 
 class Watcher:
@@ -66,18 +66,18 @@ class Watcher:
             pass
 
 
-class CobotXTopics(object):
+class MercuryTopics(object):
     def __init__(self):
-        super(CobotXTopics, self).__init__()
+        super(MercuryTopics, self).__init__()
 
-        rospy.init_node("cobotx_topics_pi")
+        rospy.init_node("mercury_topics_pi")
         rospy.loginfo("start ...")
         # problem
         # port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
         port = rospy.get_param("~port", "/dev/ttyAMA1")
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
-        self.mc = CobotX(port, baud)
+        self.mc = Mercury(port, baud)
         self.lock = threading.Lock()
 
     def start(self):
@@ -111,8 +111,8 @@ class CobotXTopics(object):
     def pub_real_angles(self):
         """Publish real angle"""
         """发布真实角度"""
-        pub = rospy.Publisher("cobotx/angles_real", CobotXAngles, queue_size=5)
-        ma = CobotXAngles()
+        pub = rospy.Publisher("mercury/angles_real", MercuryAngles, queue_size=5)
+        ma = MercuryAngles()
         while not rospy.is_shutdown():
             self.lock.acquire()
             angles = self.mc.get_angles()
@@ -131,8 +131,8 @@ class CobotXTopics(object):
     def pub_real_coords(self):
         """publish real coordinates"""
         """发布真实坐标"""
-        pub = rospy.Publisher("cobotx/coords_real", CobotXCoords, queue_size=5)
-        ma = CobotXCoords()
+        pub = rospy.Publisher("mercury/coords_real", MercuryCoords, queue_size=5)
+        ma = MercuryCoords()
 
         while not rospy.is_shutdown():
             self.lock.acquire()
@@ -165,7 +165,7 @@ class CobotXTopics(object):
             self.mc.send_angles(angles, sp)
 
         sub = rospy.Subscriber(
-            "cobotx/angles_goal", CobotXSetAngles, callback=callback
+            "mercury/angles_goal", MercurySetAngles, callback=callback
         )
         rospy.spin()
 
@@ -177,7 +177,7 @@ class CobotXTopics(object):
             self.mc.send_coords(angles, sp, model)
 
         sub = rospy.Subscriber(
-            "cobotx/coords_goal", CobotXSetCoords, callback=callback
+            "mercury/coords_goal", MercurySetCoords, callback=callback
         )
         rospy.spin()
 
@@ -191,7 +191,7 @@ class CobotXTopics(object):
                 self.mc.set_gripper_state(1, 80)
 
         sub = rospy.Subscriber(
-            "cobotx/gripper_status", CobotXGripperStatus, callback=callback
+            "mercury/gripper_status", MercuryGripperStatus, callback=callback
         )
         rospy.spin()
 
@@ -205,13 +205,13 @@ class CobotXTopics(object):
                 self.mc.set_basic_output(data.Pin2, 1)
 
         sub = rospy.Subscriber(
-            "cobotx/pump_status", CobotXPumpStatus, callback=callback
+            "mercury/pump_status", MercuryPumpStatus, callback=callback
         )
         rospy.spin()
 
 if __name__ == "__main__":
     Watcher()
-    mc_topics = CobotXTopics()
+    mc_topics = MercuryTopics()
     mc_topics.start()
     # while True:
     #     mc_topics.pub_real_coords()

Mercury/mercury_a1_moveit/.setup_assistant

@@ -1,7 +1,7 @@
 moveit_setup_assistant_config:
   URDF:
     package: mycobot_description
-    relative_path: urdf/cobotx_a450/cobotx_a450.urdf
+    relative_path: urdf/mercury_a1/mercury_a1.urdf
     xacro_args: "--inorder "
   SRDF:
     relative_path: config/firefighter.srdf

Mercury/mercury_a1_moveit/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(cobotx_b450_moveit)
+project(mercury_a1_moveit)
 
 find_package(catkin REQUIRED)
 

Mercury/mercury_a1_moveit/launch/chomp_planning_pipeline.launch.xml

@@ -17,5 +17,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find cobotx_a450_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find mercury_a1_moveit)/config/chomp_planning.yaml" />
 </launch>

Mercury/mercury_a1_moveit/launch/default_warehouse_db.launch

@@ -2,7 +2,7 @@
 
   <arg name="reset" default="false"/>
   <!-- If not specified, we'll use a default database location -->
-  <arg name="moveit_warehouse_database_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
+  <arg name="moveit_warehouse_database_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
   <include file="$(dirname)/warehouse.launch">

Mercury/mercury_a1_moveit/launch/demo.launch

@@ -6,7 +6,7 @@
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
+  <arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />

Mercury/mercury_a1_moveit/launch/fake_moveit_controller_manager.launch.xml

@@ -7,6 +7,6 @@
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam subst_value="true" file="$(find cobotx_a450_moveit)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find mercury_a1_moveit)/config/fake_controllers.yaml"/>
 
 </launch>

Mercury/mercury_a1_moveit/launch/firefighter_moveit_controller_manager.launch.xml

@@ -6,5 +6,5 @@
   <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
 
   <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml"/>
+  <rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml"/>
 </launch>

Mercury/mercury_a1_moveit/launch/gazebo.launch

@@ -13,7 +13,7 @@
   </include>
 
   <!-- Set the robot urdf on the parameter server -->
-  <param name="robot_description" textfile="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf" />
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf" />
 
   <!-- Unpause the simulation after loading the robot model -->
   <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
@@ -23,7 +23,7 @@
     respawn="false" output="screen" />
 
   <!-- Load the controller parameters onto the parameter server -->
-  <rosparam file="$(find cobotx_a450_moveit)/config/gazebo_controllers.yaml" />
+  <rosparam file="$(find mercury_a1_moveit)/config/gazebo_controllers.yaml" />
   <include file="$(dirname)/ros_controllers.launch"/>
 
   <!-- Spawn the Gazebo ROS controllers -->

Mercury/mercury_a1_moveit/launch/mercury_a1.launch

@@ -0,0 +1,67 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

Mercury/mercury_a1_moveit/launch/mycobot_moveit.launch

@@ -5,7 +5,7 @@
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
    <!-- 允许用户指定数据库位置 -->
-  <arg name="db_path" default="$(find cobotx_a450_moveit)/default_warehouse_mongo_db" />
+  <arg name="db_path" default="$(find mercury_a1_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->  <!-- 默认情况下，我们不处于调试模式 -->
   <arg name="debug" default="false" />
@@ -22,7 +22,7 @@
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
    <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
-  <include file="$(find cobotx_a450_moveit)/launch/planning_context.launch">
+  <include file="$(find mercury_a1_moveit)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
@@ -42,7 +42,7 @@
 
   <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
     <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
-  <include file="$(find cobotx_a450_moveit)/launch/move_group.launch">
+  <include file="$(find mercury_a1_moveit)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
@@ -51,14 +51,14 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
    <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
-  <include file="$(find cobotx_a450_moveit)/launch/moveit_rviz.launch">
+  <include file="$(find mercury_a1_moveit)/launch/moveit_rviz.launch">
     <arg name="config" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
   <!-- 如果启用了数据库加载，也启动 mongodb -->
-  <include file="$(find cobotx_a450_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(find mercury_a1_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 

Mercury/mercury_a1_moveit/launch/ompl-chomp_planning_pipeline.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find cobotx_b450_moveit)/launch/ompl_planning_pipeline.launch.xml">
+  <include file="$(find mercury_a1_moveit)/launch/ompl_planning_pipeline.launch.xml">
     <arg name="planning_adapters"
          default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
                   default_planner_request_adapters/AddTimeParameterization
@@ -13,7 +13,7 @@
   </include>
 
   <!-- load chomp config -->
-  <rosparam command="load" file="$(find cobotx_b450_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find mercury_a1_moveit)/config/chomp_planning.yaml" />
 
   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
   <param name="trajectory_initialization_method" value="fillTrajectory"/>

Mercury/mercury_a1_moveit/launch/ompl_planning_pipeline.launch.xml

@@ -19,6 +19,6 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find cobotx_a450_moveit)/config/ompl_planning.yaml"/>
+  <rosparam command="load" file="$(find mercury_a1_moveit)/config/ompl_planning.yaml"/>
 
 </launch>

Mercury/mercury_a1_moveit/launch/planning_context.launch

@@ -6,20 +6,20 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find cobotx_a450_moveit)/config/firefighter.srdf" />
+  <param name="$(arg robot_description)_semantic" textfile="$(find mercury_a1_moveit)/config/firefighter.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find cobotx_a450_moveit)/config/joint_limits.yaml"/>
-    <rosparam command="load" file="$(find cobotx_a450_moveit)/config/cartesian_limits.yaml"/>
+    <rosparam command="load" file="$(find mercury_a1_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mercury_a1_moveit)/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find cobotx_a450_moveit)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find mercury_a1_moveit)/config/kinematics.yaml"/>
 
   </group>
 

Mercury/mercury_a1_moveit/launch/ros_controllers.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find cobotx_a450_moveit)/config/ros_controllers.yaml" command="load"/>
+  <rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml" command="load"/>
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

Mercury/mercury_a1_moveit/launch/run_benchmark_ompl.launch

@@ -15,7 +15,7 @@
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find cobotx_a450_moveit)/config/ompl_planning.yaml"/>
+    <rosparam command="load" file="$(find mercury_a1_moveit)/config/ompl_planning.yaml"/>
   </node>
 
 </launch>

Mercury/mercury_a1_moveit/launch/sensor_manager.launch.xml

@@ -3,7 +3,7 @@
   <!-- This file makes it easy to include the settings for sensor managers -->
 
   <!-- Params for 3D sensors config -->
-  <rosparam command="load" file="$(find cobotx_b450_moveit)/config/sensors_3d.yaml" />
+  <rosparam command="load" file="$(find mercury_a1_moveit)/config/sensors_3d.yaml" />
 
   <!-- Params for the octomap monitor -->
   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->

Mercury/mercury_a1_moveit/launch/setup_assistant.launch

@@ -8,7 +8,7 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-        args="--config_pkg=cobotx_b450_moveit"
+        args="--config_pkg=mercury_a1_moveit"
         launch-prefix="$(arg launch_prefix)"
         required="true"
         output="screen" />

Mercury/mercury_a1_moveit/launch/simple_moveit_controller_manager.launch.xml

@@ -3,6 +3,6 @@
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
 
   <!-- Load controller list to the parameter server -->
-  <rosparam file="$(find cobotx_b450_moveit)/config/simple_moveit_controllers.yaml" />
-  <rosparam file="$(find cobotx_b450_moveit)/config/ros_controllers.yaml" />
+  <rosparam file="$(find mercury_a1_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mercury_a1_moveit)/config/ros_controllers.yaml" />
 </launch>

Mercury/mercury_a1_moveit/launch/stomp_planning_pipeline.launch.xml

@@ -19,5 +19,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find cobotx_b450_moveit)/config/stomp_planning.yaml"/>
+  <rosparam command="load" file="$(find mercury_a1_moveit)/config/stomp_planning.yaml"/>
 </launch>

Mercury/mercury_a1_moveit/package.xml

@@ -1,6 +1,6 @@
 <package>
 
-  <name>cobotx_a450_moveit</name>
+  <name>mercury_a1_moveit</name>
   <version>0.3.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework

Mercury/mercury_a1_moveit/scripts/sync_plan.py

@@ -13,7 +13,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 
 mc = None
@@ -21,10 +21,12 @@ mc = None
 
 def callback(data):
     # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
-    print(data.position)
+    # print(data.position)
+    rounded_data_tuple = tuple(round(value, 2) for value in data.position)
+    rospy.loginfo(rospy.get_caller_id() + "%s", rounded_data_tuple)
     data_list = []
     for index, value in enumerate(data.position):
-        radians_to_angles = math.degrees(value)
+        radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
 
     # mc.send_radians(data_list, 80)
@@ -40,7 +42,7 @@ def listener():
     port = rospy.get_param("~port", "/dev/ttyAMA1")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    mc = CobotX(port, baud)
+    mc = Mercury(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

Mercury/mercury_b1/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(cobotx_b450)
+project(mercury_b1)
 add_compile_options(-std=c++11)
 
 ## Find catkin and any catkin packages

Mercury/mercury_b1/launch/mercury_b1_follow.launch

@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF file,加载URDF文件 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_b450/cobotx_b450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_b450)/config/cobotx_b450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_b1/mercury_b1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_b1)/config/mercury_b1.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 	<!-- Combinejoin values to TF ，将值合并到TF-->

Mercury/mercury_b1/launch/simple_gui.launch

@@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyAMA1" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
+    <include file="$(find mercury_a1_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
-	<node name="simple_gui" pkg="cobotx_a450" type="simple_gui.py" />
+	<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
+	<node name="simple_gui" pkg="mercury_a1" type="simple_gui.py" />
 </launch>

Mercury/mercury_b1/launch/slider_control.launch

@@ -2,8 +2,8 @@
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
 	<!-- Load file model ，加载文件模型-->	
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_b1/mercury_b1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_b1)/config/mercury_b1.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />