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delete mycobot_pro_600 dir
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wangWking
parent
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commit
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6 changed files with 0 additions and 806 deletions
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@ -1,204 +0,0 @@
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||||||
cmake_minimum_required(VERSION 3.0.2)
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||||||
project(mycobot_600)
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||||||
|
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||||||
## Compile as C++11, supported in ROS Kinetic and newer
|
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||||||
# 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)
|
|
||||||
|
|
@ -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.
|
|
||||||
|
|
@ -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: <Fixed Frame>
|
|
||||||
Value: true
|
|
||||||
- Alpha: 1
|
|
||||||
Class: rviz/RobotModel
|
|
||||||
Collision Enabled: false
|
|
||||||
Enabled: true
|
|
||||||
Links:
|
|
||||||
All Links Enabled: true
|
|
||||||
Expand Joint Details: false
|
|
||||||
Expand Link Details: false
|
|
||||||
Expand Tree: false
|
|
||||||
Link Tree Style: Links in Alphabetic Order
|
|
||||||
base:
|
|
||||||
Alpha: 1
|
|
||||||
Show Axes: false
|
|
||||||
Show Trail: false
|
|
||||||
Value: true
|
|
||||||
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: <Fixed 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
|
|
||||||
|
|
@ -1,13 +0,0 @@
|
||||||
<launch>
|
|
||||||
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
|
|
||||||
<arg name="model" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
|
|
||||||
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
|
|
||||||
<arg name="gui" default="true" />
|
|
||||||
|
|
||||||
<!-- Add model control,添加模型控制 -->
|
|
||||||
<include file="$(find mycobot_280)/launch/slider_control.launch">
|
|
||||||
<arg name="model" value="$(arg model)" />
|
|
||||||
<arg name="rvizconfig" value="$(arg rvizconfig)" />
|
|
||||||
<arg name="gui" value="$(arg gui)" />
|
|
||||||
</include>
|
|
||||||
</launch>
|
|
||||||
|
|
@ -1,62 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>mycobot_600</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>The mycobot_600 package</description>
|
|
||||||
|
|
||||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
|
||||||
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
|
||||||
<!-- Commonly used license strings: -->
|
|
||||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
|
||||||
<license>TODO</license>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
|
||||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <url type="website">http://wiki.ros.org/mycobot_600</url> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
|
||||||
<!-- Authors do not have to be maintainers, but could be -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- The *depend tags are used to specify dependencies -->
|
|
||||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
|
||||||
<!-- Examples: -->
|
|
||||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
|
||||||
<!-- <depend>roscpp</depend> -->
|
|
||||||
<!-- Note that this is equivalent to the following: -->
|
|
||||||
<!-- <build_depend>roscpp</build_depend> -->
|
|
||||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
|
||||||
<!-- Use build_depend for packages you need at compile time: -->
|
|
||||||
<!-- <build_depend>message_generation</build_depend> -->
|
|
||||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
|
||||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
|
||||||
<!-- Use buildtool_depend for build tool packages: -->
|
|
||||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
|
||||||
<!-- Use exec_depend for packages you need at runtime: -->
|
|
||||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
|
||||||
<!-- Use test_depend for packages you need only for testing: -->
|
|
||||||
<!-- <test_depend>gtest</test_depend> -->
|
|
||||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
|
||||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
|
||||||
<buildtool_depend>catkin</buildtool_depend>
|
|
||||||
<build_depend>mycobot_description</build_depend>
|
|
||||||
<build_export_depend>mycobot_description</build_export_depend>
|
|
||||||
<exec_depend>mycobot_description</exec_depend>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- The export tag contains other, unspecified, tags -->
|
|
||||||
<export>
|
|
||||||
<!-- Other tools can request additional information be placed here -->
|
|
||||||
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
|
|
@ -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()
|
|
||||||
Loading…
Add table
Reference in a new issue