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update and fix mercury_a1 ros

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This commit is contained in:
wangWking 2024-01-11 16:26:10 +08:00
parent ea1af4e1d9
commit a12eacca6b
4 changed files with 84 additions and 64 deletions
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3
Mercury/mercury_a1/scripts/follow_display.py
View file

@ -60,6 +60,7 @@ def talker():
while not rospy.is_shutdown(): while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
try:
angles = mc.get_angles() angles = mc.get_angles()
data_list = [] data_list = []
for index, value in enumerate(angles): for index, value in enumerate(angles):
@ -96,6 +97,8 @@ def talker():
pub_marker.publish(marker_) pub_marker.publish(marker_)
rate.sleep() rate.sleep()
except Exception as e:
pass
if __name__ == "__main__": if __name__ == "__main__":

3
Mercury/mercury_a1/scripts/listen_real.py
View file

@ -39,6 +39,7 @@ def talker():
rospy.loginfo("start loop ...") rospy.loginfo("start loop ...")
while not rospy.is_shutdown(): while not rospy.is_shutdown():
try:
# get real angles from server.从服务器获得真实的角度。 # get real angles from server.从服务器获得真实的角度。
res = func() res = func()
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
@ -59,6 +60,8 @@ def talker():
joint_state_send.position = radians_list joint_state_send.position = radians_list
pub.publish(joint_state_send) pub.publish(joint_state_send)
rate.sleep() rate.sleep()
except Exception as e:
pass
if __name__ == "__main__": if __name__ == "__main__":

12
Mercury/mercury_a1/scripts/teleop_keyboard.py
View file

@ -83,6 +83,16 @@ def teleop_keyboard():
rsp = set_angles(*home_pose) rsp = set_angles(*home_pose)
# while True:
# res = get_coords()
# if res.x > 1:
# break
# time.sleep(0.1)
# record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
# print('init_coords:', record_coords)
try:
while True: while True:
res = get_coords() res = get_coords()
if res.x > 1: if res.x > 1:
@ -91,8 +101,6 @@ def teleop_keyboard():
record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
print('init_coords:', record_coords) print('init_coords:', record_coords)
try:
print(msg) print(msg)
print(vels(speed, change_percent)) print(vels(speed, change_percent))
# Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能

6
Mercury/mercury_a1_communication/scripts/mercury_services.py
View file

@ -95,11 +95,14 @@ def set_angles(req):
def get_angles(req): def get_angles(req):
"""get angles,获取角度""" """get angles,获取角度"""
try:
if mc: if mc:
lock = acquire("/tmp/mercury_lock") lock = acquire("/tmp/mercury_lock")
angles = mc.get_angles() angles = mc.get_angles()
release(lock) release(lock)
return GetAnglesResponse(*angles) return GetAnglesResponse(*angles)
except Exception as e:
pass
def set_coords(req): def set_coords(req):
@ -123,11 +126,14 @@ def set_coords(req):
def get_coords(req): def get_coords(req):
try:
if mc: if mc:
lock = acquire("/tmp/mercury_lock") lock = acquire("/tmp/mercury_lock")
coords = mc.get_coords() coords = mc.get_coords()
release(lock) release(lock)
return GetCoordsResponse(*coords) return GetCoordsResponse(*coords)
except Exception as e:
pass
def switch_status(req): def switch_status(req):