diff --git a/mycobot_pro_600/mycobot_600/CMakeLists.txt b/mycobot_pro_600/mycobot_600/CMakeLists.txt deleted file mode 100644 index 9da2548..0000000 --- a/mycobot_pro_600/mycobot_600/CMakeLists.txt +++ /dev/null @@ -1,204 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(mycobot_600) - -## 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 - mycobot_description -) - -## 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 -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## 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 -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES mycobot_600 -# CATKIN_DEPENDS mycobot_description -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/mycobot_600.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/mycobot_600_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/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_600.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/mycobot_pro_600/mycobot_600/LICENSE b/mycobot_pro_600/mycobot_600/LICENSE deleted file mode 100644 index b8468e6..0000000 --- a/mycobot_pro_600/mycobot_600/LICENSE +++ /dev/null @@ -1,25 +0,0 @@ -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/mycobot_pro_600/mycobot_600/config/mycobot_600.rviz b/mycobot_pro_600/mycobot_600/config/mycobot_600.rviz deleted file mode 100644 index 145b7d8..0000000 --- a/mycobot_pro_600/mycobot_600/config/mycobot_600.rviz +++ /dev/null @@ -1,203 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 775 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - 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 - link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link6: - 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 - link4: - Value: true - link5: - Value: true - link6: - Value: true - Marker Scale: 0.300000012 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - base: - link1: - link2: - link3: - link4: - link5: - link6: - {} - 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 - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.0593462 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.0706475973 - Y: -0.0814988762 - Z: 0.107583851 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.660398126 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.10539246 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1056 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/mycobot_pro_600/mycobot_600/launch/mycobot_600_slider.launch b/mycobot_pro_600/mycobot_600/launch/mycobot_600_slider.launch deleted file mode 100644 index f7b6782..0000000 --- a/mycobot_pro_600/mycobot_600/launch/mycobot_600_slider.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/mycobot_pro_600/mycobot_600/package.xml b/mycobot_pro_600/mycobot_600/package.xml deleted file mode 100644 index a5b68fa..0000000 --- a/mycobot_pro_600/mycobot_600/package.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - mycobot_600 - 0.0.0 - The mycobot_600 package - - - - - ubuntu - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - mycobot_description - mycobot_description - mycobot_description - - - - - - - - diff --git a/mycobot_pro_600/mycobot_600/scripts/slider_600.py b/mycobot_pro_600/mycobot_600/scripts/slider_600.py deleted file mode 100644 index 097d118..0000000 --- a/mycobot_pro_600/mycobot_600/scripts/slider_600.py +++ /dev/null @@ -1,299 +0,0 @@ -#!/usr/bin/python - -from socket import * -import math -import sys -import time -from multiprocessing import Lock - -import rospy -from sensor_msgs.msg import JointState - -global mc -mutex = Lock() - - -class ElephantRobot(object): - def __init__(self, host, port): - # setup connection - # 建立连接 - self.BUFFSIZE = 2048 - self.ADDR = (host, port) - self.tcp_client = socket(AF_INET, SOCK_STREAM) - - def start_client(self): - try: - self.tcp_client.connect(self.ADDR) - return "" - except error, e: - return e - - def stop_client(self): - self.tcp_client.close() - - def send_command(self, command): - with mutex: - self.tcp_client.send(command.encode()) - recv_data = self.tcp_client.recv(self.BUFFSIZE).decode() - res_str = str(recv_data) - print "recv = " + res_str - res_arr = res_str.split(":") - if len(res_arr) == 2: - return res_arr[1] - else: - return "" - - def string_to_coords(self, data): - data = data.replace("[", "") - data = data.replace("]", "") - data_arr = data.split(",") - if len(data_arr) == 6: - try: - coords_1 = float(data_arr[0]) - coords_2 = float(data_arr[1]) - coords_3 = float(data_arr[2]) - coords_4 = float(data_arr[3]) - coords_5 = float(data_arr[4]) - coords_6 = float(data_arr[5]) - coords = [coords_1, coords_2, coords_3, coords_4, coords_5, coords_6] - return coords - except: - return invalid_coords() - return invalid_coords() - - def string_to_double(self, data): - try: - val = float(data) - return val - except: - return -9999.99 - - def string_to_int(self, data): - try: - val = int(data) - return val - except: - return -9999 - - def invalid_coords(self): - coords = [-1, -2, -3, -4, -1, -1] - return coords - - def get_angles(self): - command = "get_angles()\n" - res = self.send_command(command) - return self.string_to_coords(res) - - def get_coords(self): - command = "get_coords()\n" - res = self.send_command(command) - return self.string_to_coords(res) - - def get_speed(self): - command = "get_speed()\n" - res = self.send_command(command) - return self.string_to_double(res) - - def power_on(self): - command = "power_on()\n" - res = self.send_command(command) - return True - - def power_off(self): - command = "power_off()\n" - res = self.send_command(command) - return True - - def check_running(self): - command = "check_running()\n" - res = self.send_command(command) - return res == "1" - - def state_check(self): - command = "state_check()\n" - res = self.send_command(command) - return res == "1" - - def program_open(self, file_path): - command = "program_open(" + file_path + ")\n" - res = self.send_command(command) - return self.string_to_int(res) - - def program_run(self, start_line): - """run program，运行程序""" - command = "program_run(" + str(start_line) + ")\n" - res = self.send_command(command) - return self.string_to_int(res) - - def read_next_error(self): - command = "read_next_error()\n" - res = self.send_command(command) - return res - - def write_coords(self, coords, speed): - """set coords,设置坐标""" - command = "set_coords(" - for item in coords: - command += str(item) + "," - command += str(speed) + ")\n" - self.send_command(command) - - def write_coord(self, axis, value, speed): - coords = self.get_coords() - if coords != self.invalid_coords(): - coords[axis] = value - self.write_coords(coords, speed) - - def write_angles(self, angles, speed): - """set angles,设置角度""" - command = "set_angles(" - for item in angles: - command += str(item) + "," - command += str(speed) + ")\n" - self.send_command(command) - - def write_angle(self, joint, value, speed): - angles = self.get_angles() - if angles != self.invalid_coords(): - angles[joint] = value - self.write_angles(angles, speed) - - def set_speed(self, percentage): - command = "set_speed(" + str(percentage) + ")\n" - self.send_command(command) - - def set_carte_torque_limit(self, axis_str, value): - command = "set_torque_limit(" + axis_str + "," + str(value) + ")\n" - self.send_command(command) - - def set_upside_down(self, up_down): - up = "1" - if up_down: - up = "0" - command = "set_upside_down(" + up + ")\n" - self.send_command(command) - - def set_payload(self, payload): - command = "set_speed(" + str(payload) + ")\n" - self.send_command(command) - - def state_on(self): - command = "state_on()\n" - self.send_command(command) - - def state_off(self): - command = "state_off()\n" - self.send_command(command) - - def task_stop(self): - command = "task_stop()\n" - self.send_command(command) - - def jog_angle(self, joint_str, direction, speed): - command = ( - "jog_angle(" + joint_str + "," + str(direction) + "," + str(speed) + ")\n" - ) - self.send_command(command) - - def jog_coord(self, axis_str, direction, speed): - command = ( - "jog_coord(" + axis_str + "," + str(direction) + "," + str(speed) + ")\n" - ) - self.send_command(command) - - def get_digital_in(self, pin_number): - command = "get_digital_in(" + str(pin_number) + ")\n" - self.send_command(command) - - def get_digital_out(self, pin_number): - command = "get_digital_out(" + str(pin_number) + ")\n" - self.send_command(command) - - def set_digital_out(self, pin_number, pin_signal): - command = "set_digital_out(" + str(pin_number) + "," + str(pin_signal) + ")\n" - self.send_command(command) - - def set_analog_out(self, pin_number, pin_signal): - command = "set_analog_out(" + str(pin_number) + "," + str(pin_signal) + ")\n" - self.send_command(command) - - def get_acceleration(self): - command = "get_acceleration()\n" - res = self.send_command(command) - return self.string_to_int(res) - - def set_acceleration(self, acceleration): - command = "set_acceleration(" + str(acceleration) + ")\n" - self.send_command(command) - - def command_wait_done(self): - command = "wait_command_done()\n" - self.send_command(command) - - def wait(self, seconds): - command = "wait(" + str(seconds) + ")\n" - self.send_command(command) - - def assign_variable(self, var_name, var_value): - command = 'assign_variable("' + str(var_name) + '",' + str(var_value) + ")\n" - self.send_command(command) - - def get_variable(self, var_name): - command = 'get_variable("' + str(var_name) + '")\n' - return self.send_command(command) - - -old_list = [] - - -def callback(data): - """callback function,回调函数""" - global old_list - # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) - print ("position", data.position) - data_list = [] - for index, value in enumerate(data.position): - value = value * 180 / math.pi - data_list.append(value) - print ("data", data_list) - - if not old_list: - old_list = data_list - mc.write_angles(data_list, 1999) - elif old_list != data_list: - old_list = data_list - if mc.check_running(): - mc.task_stop() - time.sleep(0.05) - - mc.write_angles(data_list, 1999) - - -def listener(): - global mc - rospy.init_node("control_slider", anonymous=True) - - ip = rospy.get_param("~ip", "192.168.10.169") - print (ip) - mc = ElephantRobot(ip, 5001) - # START CLIENT,启动客户端 - res = mc.start_client() - if res != "": - print res - sys.exit(1) - print ep.wait(5) - print mc.get_angles() - print mc.get_coords() - mc.set_speed(30) - print mc.get_speed() - - 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 - print ("sping ...") - rospy.spin() - - -if __name__ == "__main__": - listener()