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Merge pull request #63 from elephantrobotics/mypal260_notes

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Mypal260 notes
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wangWking 2022-03-14 13:54:32 +08:00 • committed by GitHub
commit a29a1503b3
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4 changed files with 6 additions and 5 deletions
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4
mypalletizer_260/launch/simple_gui.launch
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@ -9,11 +9,11 @@
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到 TF--> <!-- Combinejoin values to TF,将值合并到 TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz --> <!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- mycobot-topics， mycobot-话题--> <!-- mycobot-topics, mycobot-话题-->
<include file="$(find mypalletizer_communication)/launch/communication_service.launch"> <include file="$(find mypalletizer_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" /> <arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" /> <arg name="baud" value="$(arg baud)" />

2
mypalletizer_260/launch/test.launch
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@ -12,6 +12,6 @@
<param name="use_gui" value="$(arg gui)" /> <param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> --> <!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node> </node>
<!-- Show in Rviz，显示在Rviz --> <!-- Show in Rviz.显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch> </launch>

3
mypalletizer_260/scripts/listen_real_of_topic.py
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@ -26,7 +26,8 @@ class Listener(object):
Args: Args:
data (MycobotAngles): callback argument. data (MycobotAngles): callback argument.
""" """
# ini publisher object. 初始化发布者对象 # ini publisher object.
# 初始化发布者对象
joint_state_send = JointState() joint_state_send = JointState()
joint_state_send.header = Header() joint_state_send.header = Header()

2
mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
View file

@ -15,7 +15,7 @@ class MoveItPlanningDemo:
# API to initialize move_group. 初始化move_group的API # API to initialize move_group. 初始化move_group的API
moveit_commander.roscpp_initialize(sys.argv) moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node. 初始化ROS节点 # Initialize the ROS node,初始化ROS节点
rospy.init_node("moveit_ik_demo") rospy.init_node("moveit_ik_demo")
# Initialize the scene object to listen for changes in the external environment # Initialize the scene object to listen for changes in the external environment