From a237dbd36e360fb3f3d0f6ee5e2b91ab7400679d Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 19 Apr 2022 17:19:12 +0800 Subject: [PATCH 01/50] add new_mycobot320_moveit urdf --- .../new_mycobot_pro_320moveit.urdf | 171 ++++++++++++++++++ 1 file changed, 171 insertions(+) create mode 100644 mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf diff --git a/mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf b/mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf new file mode 100644 index 0000000..9fb4ef1 --- /dev/null +++ b/mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf @@ -0,0 +1,171 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From cf547215924eeed072e4363fae368550afca1227 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 19 Apr 2022 17:20:47 +0800 Subject: [PATCH 02/50] change urdf --- mycobot_320/new_mycobot_320_moveit/launch/demo_gazebo.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_320/new_mycobot_320_moveit/launch/demo_gazebo.launch b/mycobot_320/new_mycobot_320_moveit/launch/demo_gazebo.launch index 605add2..18cb072 100755 --- a/mycobot_320/new_mycobot_320_moveit/launch/demo_gazebo.launch +++ b/mycobot_320/new_mycobot_320_moveit/launch/demo_gazebo.launch @@ -22,7 +22,7 @@ - + From a0afd65eb0d5565bb6fdf3338cd9b5e587c3867f Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 19 Apr 2022 17:21:23 +0800 Subject: [PATCH 03/50] change urdf --- .../new_mycobot_320_moveit/launch/planning_context.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_320/new_mycobot_320_moveit/launch/planning_context.launch b/mycobot_320/new_mycobot_320_moveit/launch/planning_context.launch index 30c4ad9..7a6e333 100755 --- a/mycobot_320/new_mycobot_320_moveit/launch/planning_context.launch +++ b/mycobot_320/new_mycobot_320_moveit/launch/planning_context.launch @@ -6,7 +6,7 @@ - + From b09e3fcd9e01f2626adb5fb2e9c31ff7f58ca6b2 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 19 Apr 2022 17:21:50 +0800 Subject: [PATCH 04/50] fix bug --- .../new_mycobot_320_moveit/launch/moveit.rviz | 27 ++++++++++++++----- 1 file changed, 21 insertions(+), 6 deletions(-) diff --git a/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz b/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz index 110fe62..2133bb9 100644 --- a/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz +++ b/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz @@ -9,8 +9,9 @@ Panels: - /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planned Path1 + - /TF1 Splitter Ratio: 0.742560029 - Tree Height: 205 + Tree Height: 118 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -194,6 +195,20 @@ Visualization Manager: Show Robot Visual: false Value: true Velocity_Scaling_Factor: 1 + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 0.800000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false Enabled: true Global Options: Background Color: 48; 48; 48 @@ -210,7 +225,7 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 2.99650002 + Distance: 1.55857718 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 @@ -225,15 +240,15 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: -0.425203115 + Pitch: 0.0447968468 Target Frame: base Value: XYOrbit (rviz) - Yaw: 3.29494882 + Yaw: 3.43494892 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 908 + Height: 898 Help: collapsed: false Hide Left Dock: false @@ -242,7 +257,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000346fc0200000007fb000000100044006900730070006c006100790073010000002800000162000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001900000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e00000018e0000018300ffffff0000048c0000034600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c00610079007301000000280000010b000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001390000022b0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1855 From 75dddac0932f57ddd368b1b76fe7666774e40ef4 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:02:22 +0800 Subject: [PATCH 05/50] fix bug --- mycobot_320/mycobot_320/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_320/mycobot_320/CMakeLists.txt b/mycobot_320/mycobot_320/CMakeLists.txt index fe3ba7b..327cbd1 100644 --- a/mycobot_320/mycobot_320/CMakeLists.txt +++ b/mycobot_320/mycobot_320/CMakeLists.txt @@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS mycobot_communication mycobot_description - mycobot_320 + ) ## Declare a catkin package From 6684ad684411936ec7a37d52fd5ce55ba0e7c481 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:02:38 +0800 Subject: [PATCH 06/50] fix bug --- mycobot_320/new_mycobot_320/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_320/new_mycobot_320/CMakeLists.txt b/mycobot_320/new_mycobot_320/CMakeLists.txt index e219bda..5ca6e35 100644 --- a/mycobot_320/new_mycobot_320/CMakeLists.txt +++ b/mycobot_320/new_mycobot_320/CMakeLists.txt @@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS mycobot_communication mycobot_description - new_mycobot_320 + ) ## Generate messages in the 'msg' folder From e434301c1700feb24535518ac60a40054b77434c Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:03:24 +0800 Subject: [PATCH 07/50] add encoding=utf-8 --- mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py | 1 + .../mycobot_320/scripts/mycobot_320_follow_and_pump.py | 2 +- .../mycobot_320/scripts/mycobot_320_follow_display.py | 5 +---- .../mycobot_320/scripts/mycobot_320_following_marker.py | 1 + mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py | 1 + .../mycobot_320/scripts/mycobot_320_listen_real_of_topic.py | 1 + mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py | 0 mycobot_320/mycobot_320/scripts/mycobot_320_slider.py | 2 +- .../mycobot_320/scripts/mycobot_320_teleop_keyboard.py | 1 + 9 files changed, 8 insertions(+), 6 deletions(-) mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_slider.py mode change 100644 => 100755 mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py b/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py old mode 100644 new mode 100755 index 04ca483..42bde89 --- a/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +# -*- coding:utf-8 -*- import rospy import cv2 as cv import numpy as np diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py old mode 100644 new mode 100755 index f26b669..ef07a9b --- a/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py @@ -1,5 +1,5 @@ #!/usr/bin/env python2 -# coding:utf-8 +# -*- coding:utf-8 -*- import rospy from visualization_msgs.msg import Marker import time diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py old mode 100644 new mode 100755 index 9665dc8..52de81a --- a/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import rospy @@ -70,7 +71,6 @@ def talker(): pub.publish(joint_state_send) coords = mycobot.get_coords() - # marker marker_.header.stamp = rospy.Time.now() marker_.type = marker_.SPHERE @@ -80,7 +80,6 @@ def talker(): marker_.scale.z = 0.04 # marker position initial - # print(coords) if not coords: coords = [0, 0, 0, 0, 0, 0] rospy.loginfo("error [101]: can not get coord values") @@ -92,10 +91,8 @@ def talker(): marker_.color.a = 1.0 marker_.color.g = 1.0 pub_marker.publish(marker_) - rate.sleep() - if __name__ == "__main__": try: talker() diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py b/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py old mode 100644 new mode 100755 index 4afe3f9..6de2427 --- a/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import rospy diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py old mode 100644 new mode 100755 index d022c72..1ec7872 --- a/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- # license removed for brevity import time import math diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py old mode 100644 new mode 100755 index 169567a..5e7ffa6 --- a/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import math import rospy diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py b/mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py old mode 100644 new mode 100755 diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py old mode 100644 new mode 100755 index 6491795..13bda4b --- a/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py @@ -1,5 +1,5 @@ #!/usr/bin/env python2 - +# -*- coding:utf-8 -*- """[summary] This file obtains the joint angle of the manipulator in ROS, and then sends it directly to the real manipulator using `pymycobot` API. diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py b/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py old mode 100644 new mode 100755 index 77d7d13..134d649 --- a/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +# -*- coding:utf-8 -*- from __future__ import print_function from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus import rospy From eaa2e0592f9f89c0cfdfba1912e676243eba07ff Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:03:48 +0800 Subject: [PATCH 08/50] add encoding=utf-8 --- .../scripts/mycobot_320_detect_marker.py | 1 + .../scripts/mycobot_320_follow_and_pump.py | 2 +- .../scripts/mycobot_320_follow_display.py | 10 +++++----- .../scripts/mycobot_320_following_marker.py | 1 + .../new_mycobot_320/scripts/mycobot_320_listen_real.py | 1 + .../scripts/mycobot_320_listen_real_of_topic.py | 1 + .../new_mycobot_320/scripts/mycobot_320_slider.py | 8 ++++---- .../scripts/mycobot_320_teleop_keyboard.py | 3 ++- 8 files changed, 16 insertions(+), 11 deletions(-) diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py index 04ca483..42bde89 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +# -*- coding:utf-8 -*- import rospy import cv2 as cv import numpy as np diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py index f26b669..ef07a9b 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py @@ -1,5 +1,5 @@ #!/usr/bin/env python2 -# coding:utf-8 +# -*- coding:utf-8 -*- import rospy from visualization_msgs.msg import Marker import time diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py index 7f1498c..f579dd3 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- from cgi import print_environ import time @@ -14,7 +15,7 @@ def talker(): rospy.init_node("display", anonymous=True) print("Try connect real mycobot...") - port = rospy.get_param("~port", "/dev/ttyUSB0") + port = rospy.get_param("~port", "/dev/ttyACM0") baud = rospy.get_param("~baud", 115200) print("port: {}, baud: {}\n".format(port, baud)) try: @@ -61,18 +62,17 @@ def talker(): joint_state_send.header.stamp = rospy.Time.now() angles = mycobot.get_radians() - print('angels=====================>',angles) data_list = [] for index, value in enumerate(angles): data_list.append(value) - print('data_list=======================>',data_list) + # print('data_list=======================>',data_list) # rospy.loginfo('{}'.format(data_list)) joint_state_send.position = data_list pub.publish(joint_state_send) coords = mycobot.get_coords() - print('coords=========================>',coords) + # print('coords=========================>',coords) # marker marker_.header.stamp = rospy.Time.now() marker_.type = marker_.SPHERE @@ -85,7 +85,7 @@ def talker(): print('coordscoords------------->',coords) if not coords: coords = [0, 0, 0, 0, 0, 0] - print('coordscoordscoords====----==========>',coords) + # print('coordscoordscoords====----==========>',coords) rospy.loginfo("error [101]: can not get coord values") marker_.pose.position.x = coords[1] / 1000 * -1 diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py index 4afe3f9..6de2427 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import rospy diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py index d022c72..1ec7872 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- # license removed for brevity import time import math diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py index 169567a..5e7ffa6 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import math import rospy diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py index 9c92e48..a3725c0 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py @@ -1,5 +1,5 @@ #!/usr/bin/env python2 - +# -*- coding:utf-8 -*- """[summary] This file obtains the joint angle of the manipulator in ROS, and then sends it directly to the real manipulator using `pymycobot` API. @@ -20,13 +20,13 @@ mc = None def callback(data): # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) - print('data_position======================>',data.position) + # print('data_position======================>',data.position) data_list = [] for index, value in enumerate(data.position): data_list.append(value) mc.send_radians(data_list, 80) - print('data_list=====================>',data_list) + # print('data_list=====================>',data_list) # time.sleep(0.5) @@ -35,7 +35,7 @@ def listener(): rospy.init_node("control_slider", anonymous=True) rospy.Subscriber("joint_states", JointState, callback) - port = rospy.get_param("~port", "/dev/ttyUSB0") + port = rospy.get_param("~port", "/dev/ttyACM0") baud = rospy.get_param("~baud", 115200) print(port, baud) mc = MyCobot(port, baud) diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py index 77d7d13..50dc874 100755 --- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py +++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +# -*- coding:utf-8 -*- from __future__ import print_function from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus import rospy @@ -63,7 +64,7 @@ def teleop_keyboard(): change_angle = 180 * change_percent / 100 change_len = 250 * change_percent / 100 - rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("get_joint_ang cles") rospy.wait_for_service("set_joint_angles") rospy.wait_for_service("get_joint_coords") rospy.wait_for_service("set_joint_coords") From 19910717dc7687a5a85d5d575ae115b019b08349 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:04:39 +0800 Subject: [PATCH 09/50] add encoding=utf-8 --- mycobot_320/mycobot_320_moveit/scripts/sync_plan.py | 1 + 1 file changed, 1 insertion(+) mode change 100644 => 100755 mycobot_320/mycobot_320_moveit/scripts/sync_plan.py diff --git a/mycobot_320/mycobot_320_moveit/scripts/sync_plan.py b/mycobot_320/mycobot_320_moveit/scripts/sync_plan.py old mode 100644 new mode 100755 index 20b9341..5665c3a --- a/mycobot_320/mycobot_320_moveit/scripts/sync_plan.py +++ b/mycobot_320/mycobot_320_moveit/scripts/sync_plan.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import subprocess import rospy From e31f80ca7d931792ee367256fa3c0c8fb2353160 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:04:55 +0800 Subject: [PATCH 10/50] add encoding=utf-8 --- mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py | 1 + 1 file changed, 1 insertion(+) diff --git a/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py b/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py index 20b9341..5665c3a 100755 --- a/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py +++ b/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import subprocess import rospy From 881aae584af589b01364e681be6cebfa344823b0 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 21 Apr 2022 18:05:20 +0800 Subject: [PATCH 11/50] add encoding=utf-8 --- mycobot_communication/scripts/mycobot_services.py | 1 + mycobot_communication/scripts/mycobot_topics.py | 1 + mycobot_communication/scripts/mycobot_topics_jsnn.py | 1 + mycobot_communication/scripts/mycobot_topics_pi.py | 1 + mycobot_communication/scripts/mycobot_topics_seeed.py | 1 + 5 files changed, 5 insertions(+) mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_jsnn.py mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_pi.py mode change 100644 => 100755 mycobot_communication/scripts/mycobot_topics_seeed.py diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index 27ebdc2..2b97386 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 + # -*- coding: UTF-8 -*- import time import rospy from mycobot_communication.srv import * diff --git a/mycobot_communication/scripts/mycobot_topics.py b/mycobot_communication/scripts/mycobot_topics.py index c731c69..799fe4b 100755 --- a/mycobot_communication/scripts/mycobot_topics.py +++ b/mycobot_communication/scripts/mycobot_topics.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import os import sys diff --git a/mycobot_communication/scripts/mycobot_topics_jsnn.py b/mycobot_communication/scripts/mycobot_topics_jsnn.py old mode 100644 new mode 100755 index 36c35c8..07304f8 --- a/mycobot_communication/scripts/mycobot_topics_jsnn.py +++ b/mycobot_communication/scripts/mycobot_topics_jsnn.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import os import sys diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py old mode 100644 new mode 100755 index 98f6530..f43d0da --- a/mycobot_communication/scripts/mycobot_topics_pi.py +++ b/mycobot_communication/scripts/mycobot_topics_pi.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import os import sys diff --git a/mycobot_communication/scripts/mycobot_topics_seeed.py b/mycobot_communication/scripts/mycobot_topics_seeed.py old mode 100644 new mode 100755 index f1d5065..d1e8154 --- a/mycobot_communication/scripts/mycobot_topics_seeed.py +++ b/mycobot_communication/scripts/mycobot_topics_seeed.py @@ -1,4 +1,5 @@ #!/usr/bin/env python2 +# -*- coding:utf-8 -*- import time import os import sys From 9e35301e365eb2f1bd31832d5d370fb702af7cc3 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 26 Apr 2022 11:42:01 +0800 Subject: [PATCH 12/50] add mecharm_pi .dae and urdf --- mycobot_description/urdf/mecharm_pi/base.dae | 391 +++++++++++++ mycobot_description/urdf/mecharm_pi/link1.dae | 545 ++++++++++++++++++ mycobot_description/urdf/mecharm_pi/link2.dae | 498 ++++++++++++++++ mycobot_description/urdf/mecharm_pi/link3.dae | 430 ++++++++++++++ mycobot_description/urdf/mecharm_pi/link4.dae | 462 +++++++++++++++ mycobot_description/urdf/mecharm_pi/link5.dae | 265 +++++++++ mycobot_description/urdf/mecharm_pi/link6.dae | 197 +++++++ .../urdf/mecharm_pi/mecharm_pi.urdf | 176 ++++++ 8 files changed, 2964 insertions(+) create mode 100644 mycobot_description/urdf/mecharm_pi/base.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link1.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link2.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link3.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link4.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link5.dae create mode 100644 mycobot_description/urdf/mecharm_pi/link6.dae create mode 100644 mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf diff --git a/mycobot_description/urdf/mecharm_pi/base.dae b/mycobot_description/urdf/mecharm_pi/base.dae new file mode 100644 index 0000000..f188ee3 --- /dev/null +++ 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4 4 4 1 1 1 3 3 3 5 5 5 2 2 2 4 4 4 7 7 7 4 4 4 3 3 3 8 8 8 5 5 5 4 4 4 0 0 0 27 27 27 9 9 9 0 0 0 26 26 26 27 27 27 3 3 3 0 0 0 10 10 10 9 9 9 10 10 10 0 0 0 11 11 11 3 3 3 10 10 10 0 0 0 1 1 1 26 26 26 24 24 24 25 25 25 1 1 1 2 2 2 23 23 23 24 24 24 2 2 2 21 21 21 23 23 23 21 21 21 22 22 22 23 23 23 2 2 2 5 5 5 21 21 21 13 13 13 6 6 6 11 11 11 14 14 14 7 7 7 6 6 6 13 13 13 14 14 14 6 6 6 14 14 14 15 15 15 7 7 7 12 12 12 13 13 13 11 11 11 16 16 16 7 7 7 15 15 15 19 19 19 20 20 20 5 5 5 17 17 17 8 8 8 16 16 16 17 17 17 18 18 18 19 19 19 8 8 8 17 17 17 19 19 19 8 8 8 7 7 7 16 16 16 11 11 11 6 6 6 3 3 3 49 49 49 54 54 54 48 48 48 57 57 57 55 55 55 54 54 54 55 55 55 57 57 57 56 56 56 57 57 57 59 59 59 58 58 58 66 66 66 57 57 57 54 54 54 65 65 65 50 50 50 51 51 51 65 65 65 49 49 49 50 50 50 66 66 66 59 59 59 57 57 57 67 67 67 65 65 65 71 71 71 49 49 49 65 65 65 66 66 66 71 71 71 65 65 65 51 51 51 51 51 51 52 52 52 72 72 72 49 49 49 66 66 66 54 54 54 63 63 63 62 62 62 61 61 61 60 60 60 63 63 63 61 61 61 68 68 68 64 64 64 63 63 63 67 67 67 77 77 77 68 68 68 64 64 64 68 68 68 77 77 77 68 68 68 60 60 60 59 59 59 66 66 66 68 68 68 59 59 59 51 51 51 72 72 72 71 71 71 69 69 69 70 70 70 75 75 75 67 67 67 71 71 71 69 69 69 77 77 77 67 67 67 76 76 76 76 76 76 67 67 67 69 69 69 75 75 75 76 76 76 69 69 69 74 74 74 75 75 75 70 70 70 68 68 68 63 63 63 60 60 60 72 72 72 52 52 52 53 53 53 53 53 53 38 38 38 78 78 78 38 38 38 39 39 39 47 47 47 41 41 41 47 47 47 40 40 40 47 47 47 41 41 41 42 42 42 47 47 47 39 39 39 40 40 40 42 42 42 43 43 43 47 47 47 45 45 45 47 47 47 44 44 44 46 46 46 47 47 47 45 45 45 80 80 80 72 72 72 79 79 79 47 47 47 78 78 78 38 38 38 79 79 79 53 53 53 78 78 78 43 43 43 44 44 44 47 47 47 72 72 72 80 80 80 81 81 81 37 37 37 28 28 28 36 36 36 73 73 73 70 70 70 82 82 82 33 33 33 34 34 34 28 28 28 82 82 82 37 37 37 73 73 73 36 36 36 28 28 28 35 35 35 35 35 35 28 28 28 34 34 34 74 74 74 70 70 70 73 73 73 28 28 28 37 37 37 82 82 82 32 32 32 33 33 33 28 28 28 31 31 31 32 32 32 28 28 28 28 28 28 30 30 30 31 31 31 28 28 28 29 29 29 30 30 30 82 82 82 70 70 70 72 72 72 72 72 72 81 81 81 82 82 82 53 53 53 79 79 79 72 72 72 88 88 88 85 85 85 87 87 87 89 89 89 86 86 86 85 85 85 91 91 91 88 88 88 87 87 87 92 92 92 89 89 89 91 91 91 97 97 97 98 98 98 84 84 84 83 83 83 108 108 108 98 98 98 87 87 87 84 84 84 108 108 108 98 98 98 108 108 108 84 84 84 85 85 85 97 97 97 84 84 84 94 94 94 95 95 95 86 86 86 96 96 96 85 85 85 95 95 95 86 86 86 101 101 101 94 94 94 89 89 89 101 101 101 86 86 86 101 101 101 93 93 93 94 94 94 85 85 85 86 86 86 95 95 95 85 85 85 96 96 96 97 97 97 90 90 90 87 87 87 110 110 110 103 103 103 90 90 90 110 110 110 110 110 110 102 102 102 103 103 103 91 91 91 90 90 90 104 104 104 90 90 90 103 103 103 104 104 104 104 104 104 105 105 105 91 91 91 92 92 92 100 100 100 89 89 89 101 101 101 89 89 89 100 100 100 107 107 107 92 92 92 106 106 106 91 91 91 106 106 106 92 92 92 107 107 107 99 99 99 100 100 100 92 92 92 107 107 107 100 100 100 106 106 106 91 91 91 105 105 105 119 119 119 118 118 118 117 117 117 120 120 120 119 119 119 116 116 116 121 121 121 120 120 120 115 115 115 117 117 117 118 118 118 111 111 111 120 120 120 116 116 116 115 115 115 117 117 117 116 116 116 119 119 119 115 115 115 126 126 126 121 121 121 125 125 125 123 123 123 122 122 122 123 123 123 125 125 125 124 124 124 121 121 121 126 126 126 125 125 125 126 126 126 114 114 114 113 113 113 113 113 113 112 112 112 126 126 126 114 114 114 126 126 126 115 115 115 125 125 125 122 122 122 121 121 121 220 220 220 252 252 252 219 219 219 218 218 218 219 219 219 252 252 252 220 220 220 221 221 221 251 251 251 252 252 252 220 220 220 251 251 251 217 217 217 254 254 254 216 216 216 215 215 215 216 216 216 254 254 254 217 217 217 218 218 218 253 253 253 252 252 252 253 253 253 218 218 218 254 254 254 217 217 217 253 253 253 225 225 225 249 249 249 224 224 224 223 223 223 224 224 224 249 249 249 226 226 226 248 248 248 225 225 225 249 249 249 225 225 225 248 248 248 226 226 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138 138 137 137 137 138 138 138 161 161 161 139 139 139 160 160 160 138 138 138 159 159 159 139 139 139 133 133 133 128 128 128 159 159 159 131 131 131 133 133 133 131 131 131 159 159 159 160 160 160 139 139 139 159 159 159 204 204 204 262 262 262 203 203 203 201 201 201 202 202 202 263 263 263 262 262 262 202 202 202 203 203 203 201 201 201 263 263 263 264 264 264 263 263 263 202 202 202 262 262 262 201 201 201 264 264 264 200 200 200 199 199 199 200 200 200 264 264 264 198 198 198 199 199 199 265 265 265 264 264 264 265 265 265 199 199 199 266 266 266 198 198 198 265 265 265 196 196 196 197 197 197 266 266 266 198 198 198 266 266 266 197 197 197 195 195 195 196 196 196 267 267 267 266 266 266 267 267 267 196 196 196 268 268 268 195 195 195 267 267 267 193 193 193 194 194 194 268 268 268 195 195 195 268 268 268 194 194 194 192 192 192 193 193 193 269 269 269 268 268 268 269 269 269 193 193 193 191 191 191 192 192 192 269 269 269 190 190 190 191 191 191 270 270 270 269 269 269 270 270 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119 119 118 118 118 37 37 37 118 118 118 38 38 38 37 37 37 117 117 117 38 38 38 118 118 118 116 116 116 39 39 39 117 117 117 38 38 38 117 117 117 39 39 39 115 115 115 40 40 40 116 116 116 39 39 39 116 116 116 40 40 40 114 114 114 41 41 41 115 115 115 40 40 40 115 115 115 41 41 41 42 42 42 41 41 41 114 114 114 113 113 113 43 43 43 42 42 42 43 43 43 113 113 113 112 112 112 112 112 112 44 44 44 43 43 43 114 114 114 113 113 113 42 42 42 111 111 111 45 45 45 44 44 44 110 110 110 45 45 45 111 111 111 112 112 112 111 111 111 44 44 44 109 109 109 46 46 46 110 110 110 48 48 48 47 47 47 108 108 108 109 109 109 47 47 47 46 46 46 45 45 45 110 110 110 46 46 46 109 109 109 108 108 108 47 47 47 107 107 107 49 49 49 48 48 48 107 107 107 48 48 48 108 108 108 107 107 107 106 106 106 49 49 49 105 105 105 51 51 51 50 50 50 50 50 50 106 106 106 105 105 105 105 105 105 52 52 52 51 51 51 49 49 49 106 106 106 50 50 50 30 30 30 19 19 19 16 16 16 127 127 127 19 19 19 30 30 30 128 128 128 29 29 29 28 28 28 30 30 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235 235 235 159 159 159 145 145 145 242 242 242 151 151 151 145 145 145 151 151 151 146 146 146 152 152 152 150 150 150 241 241 241 146 146 146 151 151 151 150 150 150 144 144 144 242 242 242 145 145 145 144 144 144 243 243 243 242 242 242 146 146 146 150 150 150 152 152 152 156 156 156 155 155 155 238 238 238 240 240 240 239 239 239 154 154 154 239 239 239 238 238 238 155 155 155 240 240 240 154 154 154 153 153 153 154 154 154 239 239 239 155 155 155 240 240 240 153 153 153 241 241 241 153 153 153 152 152 152 241 241 241 225 225 225 224 224 224 169 169 169 224 224 224 223 223 223 170 170 170 167 167 167 227 227 227 226 226 226 166 166 166 227 227 227 167 167 167 168 168 168 226 226 226 225 225 225 168 168 168 167 167 167 226 226 226 172 172 172 222 222 222 221 221 221 171 171 171 222 222 222 172 172 172 220 220 220 172 172 172 221 221 221 170 170 170 223 223 223 171 171 171 171 171 171 223 223 223 222 222 222 224 224 224 170 170 170 169 169 169 169 169 169 168 168 168 225 225 225 162 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57 57 57 91 91 91 55 55 55 56 56 56 57 57 57 91 91 91 56 56 56 92 92 92 55 55 55 91 91 91 78 78 78 40 40 40 41 41 41 40 40 40 76 76 76 62 62 62 42 42 42 81 81 81 41 41 41 41 41 41 81 81 81 78 78 78 62 62 62 76 76 76 73 73 73 76 76 76 40 40 40 77 77 77 77 77 77 40 40 40 78 78 78 81 81 81 42 42 42 43 43 43 138 138 138 62 62 62 73 73 73 74 74 74 136 136 136 137 137 137 135 135 135 136 136 136 74 74 74 75 75 75 134 134 134 135 135 135 137 137 137 138 138 138 74 74 74 134 134 134 75 75 75 133 133 133 132 132 132 133 133 133 67 67 67 67 67 67 131 131 131 132 132 132 133 133 133 75 75 75 67 67 67 74 74 74 75 75 75 135 135 135 74 74 74 138 138 138 73 73 73 68 68 68 69 69 69 131 131 131 131 131 131 70 70 70 71 71 71 70 70 70 131 131 131 69 69 69 131 131 131 71 71 71 72 72 72 67 67 67 68 68 68 131 131 131 72 72 72 65 65 65 130 130 130 129 129 129 65 65 65 66 66 66 128 128 128 129 129 129 66 66 66 65 65 65 129 129 129 130 130 130 72 72 72 130 130 130 131 131 131 161 161 161 128 128 128 66 66 66 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+ + + + + + + + + + + + + + + + + + + + + -0.073226 -0.647707 0.758363 6392.349885 0.997315 -0.047556 0.055681 750.663261 0.000000 0.760404 0.649450 6006.707794 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -286.046568 0.000000 1.000000 0.000000 -35.187048 0.000000 0.000000 1.000000 200.007156 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -58.256887 0.000000 0.000000 -1.000000 -101.118624 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 100.719770 1.000000 0.000000 0.000000 55.296340 0.000000 1.000000 0.000000 -44.648291 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -43.000000 0.000000 0.000000 -1.000000 -53.000000 0.000000 1.000000 0.000000 -70.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf new file mode 100644 index 0000000..676f577 --- /dev/null +++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf @@ -0,0 +1,176 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 8665543818fae65d09e0add057b051df6d2b5fc9 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 26 Apr 2022 11:43:58 +0800 Subject: [PATCH 13/50] add mecharm_pi ROS --- mecharm/mecharm_pi/CMakeLists.txt | 45 ++ mecharm/mecharm_pi/LICENSE | 25 + mecharm/mecharm_pi/config/mecharm_pi.rviz | 202 ++++++++ .../config/mycobot_with_marker.rviz | 216 ++++++++ .../mecharm_pi/launch/detect_marker.launch | 18 + .../launch/detect_marker_with_topic.launch | 31 ++ mecharm/mecharm_pi/launch/follow.launch | 14 + mecharm/mecharm_pi/launch/simple_gui.launch | 24 + .../mecharm_pi/launch/slider_control.launch | 25 + .../mecharm_pi/launch/teleop_keyboard.launch | 28 + mecharm/mecharm_pi/launch/test.launch | 18 + mecharm/mecharm_pi/package.xml | 47 ++ mecharm/mecharm_pi/scripts/detect_marker.py | 125 +++++ mecharm/mecharm_pi/scripts/follow_and_pump.py | 197 ++++++++ mecharm/mecharm_pi/scripts/follow_display.py | 111 ++++ .../mecharm_pi/scripts/following_marker.py | 65 +++ mecharm/mecharm_pi/scripts/listen_real.py | 70 +++ .../scripts/listen_real_of_topic.py | 67 +++ mecharm/mecharm_pi/scripts/simple_gui.py | 478 ++++++++++++++++++ mecharm/mecharm_pi/scripts/slider_control.py | 53 ++ mecharm/mecharm_pi/scripts/teleop_keyboard.py | 165 ++++++ 21 files changed, 2024 insertions(+) create mode 100644 mecharm/mecharm_pi/CMakeLists.txt create mode 100644 mecharm/mecharm_pi/LICENSE create mode 100644 mecharm/mecharm_pi/config/mecharm_pi.rviz create mode 100644 mecharm/mecharm_pi/config/mycobot_with_marker.rviz create mode 100644 mecharm/mecharm_pi/launch/detect_marker.launch create mode 100644 mecharm/mecharm_pi/launch/detect_marker_with_topic.launch create mode 100644 mecharm/mecharm_pi/launch/follow.launch create mode 100644 mecharm/mecharm_pi/launch/simple_gui.launch create mode 100644 mecharm/mecharm_pi/launch/slider_control.launch create mode 100644 mecharm/mecharm_pi/launch/teleop_keyboard.launch create mode 100644 mecharm/mecharm_pi/launch/test.launch create mode 100644 mecharm/mecharm_pi/package.xml create mode 100644 mecharm/mecharm_pi/scripts/detect_marker.py create mode 100644 mecharm/mecharm_pi/scripts/follow_and_pump.py create mode 100644 mecharm/mecharm_pi/scripts/follow_display.py create mode 100644 mecharm/mecharm_pi/scripts/following_marker.py create mode 100644 mecharm/mecharm_pi/scripts/listen_real.py create mode 100644 mecharm/mecharm_pi/scripts/listen_real_of_topic.py create mode 100644 mecharm/mecharm_pi/scripts/simple_gui.py create mode 100644 mecharm/mecharm_pi/scripts/slider_control.py create mode 100644 mecharm/mecharm_pi/scripts/teleop_keyboard.py diff --git a/mecharm/mecharm_pi/CMakeLists.txt b/mecharm/mecharm_pi/CMakeLists.txt new file mode 100644 index 0000000..1c5f4ed --- /dev/null +++ b/mecharm/mecharm_pi/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mecharm_pi) + +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge +) + +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS std_msgs actionlib +) + +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/follow_display.py + scripts/slider_control.py + scripts/teleop_keyboard.py + scripts/listen_real.py + scripts/listen_real_of_topic.py + scripts/detect_marker.py + scripts/following_marker.py + scripts/follow_and_pump.py + scripts/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# find_package(OpenCV REQUIRED) +# add_executable(opencv_camera src/opencv_camera) +# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# add_executable(camera_display src/camera_display) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/mecharm/mecharm_pi/LICENSE b/mecharm/mecharm_pi/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mecharm/mecharm_pi/LICENSE @@ -0,0 +1,25 @@ +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/mecharm/mecharm_pi/config/mecharm_pi.rviz b/mecharm/mecharm_pi/config/mecharm_pi.rviz new file mode 100644 index 0000000..39188bb --- /dev/null +++ b/mecharm/mecharm_pi/config/mecharm_pi.rviz @@ -0,0 +1,202 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 619 + - 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: 0.682552576 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.760397136 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.90539956 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 900 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mecharm/mecharm_pi/config/mycobot_with_marker.rviz b/mecharm/mecharm_pi/config/mycobot_with_marker.rviz new file mode 100644 index 0000000..8b0dc7f --- /dev/null +++ b/mecharm/mecharm_pi/config/mycobot_with_marker.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + - /Marker1/Namespaces1 + 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 + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + 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 + basic_shapes: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + basic_shapes: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + basic_cube: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + 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: 2.11990476 + 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: 0.375398338 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.235389769 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mecharm/mecharm_pi/launch/detect_marker.launch b/mecharm/mecharm_pi/launch/detect_marker.launch new file mode 100644 index 0000000..e8c6998 --- /dev/null +++ b/mecharm/mecharm_pi/launch/detect_marker.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/launch/detect_marker_with_topic.launch b/mecharm/mecharm_pi/launch/detect_marker_with_topic.launch new file mode 100644 index 0000000..8b81058 --- /dev/null +++ b/mecharm/mecharm_pi/launch/detect_marker_with_topic.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/launch/follow.launch b/mecharm/mecharm_pi/launch/follow.launch new file mode 100644 index 0000000..25f3fbd --- /dev/null +++ b/mecharm/mecharm_pi/launch/follow.launch @@ -0,0 +1,14 @@ + + + + + + + + + + ["joint_states"] + + + + diff --git a/mecharm/mecharm_pi/launch/simple_gui.launch b/mecharm/mecharm_pi/launch/simple_gui.launch new file mode 100644 index 0000000..dd1a5c4 --- /dev/null +++ b/mecharm/mecharm_pi/launch/simple_gui.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/launch/slider_control.launch b/mecharm/mecharm_pi/launch/slider_control.launch new file mode 100644 index 0000000..b1c76c2 --- /dev/null +++ b/mecharm/mecharm_pi/launch/slider_control.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/launch/teleop_keyboard.launch b/mecharm/mecharm_pi/launch/teleop_keyboard.launch new file mode 100644 index 0000000..224fbfc --- /dev/null +++ b/mecharm/mecharm_pi/launch/teleop_keyboard.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/launch/test.launch b/mecharm/mecharm_pi/launch/test.launch new file mode 100644 index 0000000..89283ca --- /dev/null +++ b/mecharm/mecharm_pi/launch/test.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi/package.xml b/mecharm/mecharm_pi/package.xml new file mode 100644 index 0000000..f2c6b5c --- /dev/null +++ b/mecharm/mecharm_pi/package.xml @@ -0,0 +1,47 @@ + + + mecharm_pi + 0.0.0 + The mecharm_pi package + + WangWeiJian + WangWeiJian + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + mycobot_communication + + mycobot_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + mycobot_communication + + + + + + + + diff --git a/mecharm/mecharm_pi/scripts/detect_marker.py b/mecharm/mecharm_pi/scripts/detect_marker.py new file mode 100644 index 0000000..acaf421 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/detect_marker.py @@ -0,0 +1,125 @@ +#!/usr/bin/env python +# -*- coding:utf-8 -*- +import rospy +import cv2 as cv +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +from sensor_msgs.msg import Image +import tf +from tf.broadcaster import TransformBroadcaster +import tf_conversions +from mycobot_communication.srv import ( + GetCoords, + SetCoords, + GetAngles, + SetAngles, + GripperStatus, +) + + +class ImageConverter: + def __init__(self): + self.br = TransformBroadcaster() + self.bridge = CvBridge() + self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) + self.aruo_params = cv.aruco.DetectorParameters_create() + calibrationParams = cv.FileStorage( + "calibrationFileName.xml", cv.FILE_STORAGE_READ + ) + self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() + self.camera_matrix = None + # subscriber, listen wether has img come in. 订阅者，监听是否有img进来 + self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) + + def callback(self, data): + """Callback function. + + Process image with OpenCV, detect Mark to get the pose. Then acccording the + pose to transforming. + """ + try: + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + size = cv_image.shape + focal_length = size[1] + center = [size[1] / 2, size[0] / 2] + if self.camera_matrix is None: + # calc the camera matrix, if don't have. 如果没有就计算相机矩阵 + self.camera_matrix = np.array( + [ + [focal_length, 0, center[0]], + [0, focal_length, center[1]], + [0, 0, 1], + ], + dtype=np.float32, + ) + gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) + # detect aruco marker. 检测 aruco 标记。 + ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) + corners, ids = ret[0], ret[1] + # process marker data. + if len(corners) > 0: + if ids is not None: + # print('corners:', corners, 'ids:', ids) + + # detect marker pose. 检测标记姿势 + # argument: + # marker corners, 标记角 + # marker size (meter), 标记尺寸（米） + ret = cv.aruco.estimatePoseSingleMarkers( + corners, 0.05, self.camera_matrix, self.dist_coeffs + ) + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + + print("rvec:", rvec, "tvec:", tvec) + + # just select first one detected marker. 只需选择第一个检测到的标记 + for i in range(rvec.shape[0]): + cv.aruco.drawDetectedMarkers(cv_image, corners) + cv.aruco.drawAxis( + cv_image, + self.camera_matrix, + self.dist_coeffs, + rvec[i, :, :], + tvec[i, :, :], + 0.03, + ) + + xyz = tvec[0, 0, :] + xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] + + # get quaternion for ros. 为ros获取四元数 + euler = rvec[0, 0, :] + tf_change = tf.transformations.quaternion_from_euler( + euler[0], euler[1], euler[2] + ) + print("tf_change:", tf_change) + + # trans pose according [joint1] + # 根据 [joint1] 变换姿势 + self.br.sendTransform( + xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" + ) + + # [x, y, z, -172, 3, -46.8] + cv.imshow("Image", cv_image) + + cv.waitKey(3) + try: + pass + except CvBridgeError as e: + print(e) + + +if __name__ == "__main__": + try: + rospy.init_node("detect_marker") + rospy.loginfo("Starting cv_bridge_test node") + ImageConverter() + rospy.spin() + except KeyboardInterrupt: + print("Shutting down cv_bridge_test node.") + cv.destroyAllWindows() diff --git a/mecharm/mecharm_pi/scripts/follow_and_pump.py b/mecharm/mecharm_pi/scripts/follow_and_pump.py new file mode 100644 index 0000000..866f759 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/follow_and_pump.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# Type of message to communicate with mycobot +# 与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# Control the topic of mycobot, followed by angle, coordinates, gripper +# 控制mycobot的话题，依次是角度、坐标、夹爪 +angle_pub = rospy.Publisher("mycobot/angles_goal", + MycobotSetAngles, queue_size=5) +coord_pub = rospy.Publisher("mycobot/coords_goal", + MycobotSetCoords, queue_size=5) +# Judging device: ttyUSB* is M5；ttyACM* is wio +# 判断设备：ttyUSB*为M5；ttyACM*为wio +robot = os.popen("ls /dev/ttyAMA*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# Instantiate the message object. 实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# Deviation value from the real position of mycobot +# 与mycobot真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# With this variable limit, the fetching behavior is only done once +# 使用此变量限制，抓取行为仅执行一次 +flag = False + +# In order to compare whether the QR code moves later +# 为了比较二维码后面是否移动 +temp_x = temp_y = temp_z = 0.0 + +temp_time = time.time() + + +def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): + """Post coordinates 发布坐标""" + coords.x = x + coords.y = y + coords.z = z + coords.rx = rx + coords.ry = ry + coords.rz = rz + coords.speed = 70 + coords.model = m + # print(coords) + coord_pub.publish(coords) + + +def pub_angles(a, b, c, d, e, f, sp): + """Publishing angle. 发布角度""" + angles.joint_1 = float(a) + angles.joint_2 = float(b) + angles.joint_3 = float(c) + angles.joint_4 = float(d) + angles.joint_5 = float(e) + angles.joint_6 = float(f) + angles.speed = sp + angle_pub.publish(angles) + + +def pub_pump(flag, Pin): + """Publish gripper status. 发布夹爪状态""" + pump.Status = flag + pump.Pin1 = Pin[0] + pump.Pin2 = Pin[1] + pump_pub.publish(pump) + + +def target_is_moving(x, y, z): + """Determine whether the target moves. 判断目标是否移动""" + count = 0 + for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): + print(o, n) + if abs(o - n) < 2: + count += 1 + print(count) + if count == 3: + return False + return True + + +def grippercallback(data): + """callback function. 回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # Parse out the coordinate value. 解析出坐标值 + # pump length: 88mm + x = float(format(data.pose.position.x * 1000, ".2f")) + y = float(format(data.pose.position.y * 1000, ".2f")) + z = float(format(data.pose.position.z * 1000, ".2f")) + + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior + # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 + if ( + time.time() - temp_time < 30 + or (temp_x == temp_y == temp_z == 0.0) + or target_is_moving(x - x_offset, y - y_offset, z) + ): + + x -= x_offset + y -= y_offset + pub_coords(x - 20, y, 280) + time.sleep(0.1) + + temp_x, temp_y, temp_z = x, y, z + return + else: # Indicates that the target is in a stationary state and can be attempted to grab. 表示目标处于静止状态，可以尝试抓取 + + print(x, y, z) + + # detect heigth + pump height + limit height + offset + x += x_offset + y += y_offset + z = z + 88 + z_offset + + pub_coords(x, y, z) + time.sleep(2.5) + + # down + for i in range(1, 17): + pub_coords(x, y, z - i * 5, rx=-160, sp=10) + time.sleep(0.1) + + time.sleep(2) + + pub_pump(True, Pin) + # pump on + + pub_coords(x, y, z + 20, -165) + time.sleep(1.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + put_z = 140 + pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2) + time.sleep(1.5) + + for i in range(1, 8): + pub_coords(39.4, -174.7, put_z - i * 5, - + 177.13, -4.13, -152.59, 15, 2) + time.sleep(0.1) + + pub_pump(False, Pin) + + time.sleep(0.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + # finally + flag = True + + +def main(): + for _ in range(10): + # pub_coords(150, 20, 220, -175, 0, -90, 70, 2) + pub_angles(0, 30, -50, -40, 0, 0, 50) + # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70) + time.sleep(0.5) + + pub_pump(False, Pin) + # time.sleep(2.5) + + # subscribers to mark information, mark信息的订阅者 + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/mecharm/mecharm_pi/scripts/follow_display.py b/mecharm/mecharm_pi/scripts/follow_display.py new file mode 100644 index 0000000..eed0c18 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/follow_display.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker + + +from pymycobot.mycobot import MyCobot + + +def talker(): + rospy.init_node("display", anonymous=True) + + print("Try connect real mecharm...") + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + print("port: {}, baud: {}\n".format(port, baud)) + try: + mycobot = MyCobot(port, baud) + except Exception as e: + print(e) + print( + """\ + \rTry connect mecharm failed! + \rPlease check wether connected with MyCobot. + \rPlease chckt wether the port or baud is right. + """ + ) + exit(1) + mycobot.release_all_servos() + time.sleep(0.1) + print("Rlease all servos over.\n") + + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state. 发布关节状态 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + marker_ = Marker() + marker_.header.frame_id = "/base" + marker_.ns = "my_namespace" + + print("publishing ...") + while not rospy.is_shutdown(): + joint_state_send.header.stamp = rospy.Time.now() + + angles = mycobot.get_radians() + data_list = [] + for index, value in enumerate(angles): + data_list.append(value) + + # rospy.loginfo('{}'.format(data_list)) + joint_state_send.position = data_list + + data_list.insert(3,0.0) + print(joint_state_send.position) + + pub.publish(joint_state_send) + + coords = mycobot.get_coords() + + # marker + marker_.header.stamp = rospy.Time.now() + marker_.type = marker_.SPHERE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial. 标记初始位置 + # print(coords) + if not coords: + # coords = [0, 0, 0, 0, 0 ] + coords = [0, 0, 0, 0, 0, 0] + + rospy.loginfo("error [101]: can not get coord values") + + marker_.pose.position.x = coords[1] / 1000 * -1 + marker_.pose.position.y = coords[0] / 1000 + marker_.pose.position.z = coords[2] / 1000 + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mecharm/mecharm_pi/scripts/following_marker.py b/mecharm/mecharm_pi/scripts/following_marker.py new file mode 100644 index 0000000..ce9257f --- /dev/null +++ b/mecharm/mecharm_pi/scripts/following_marker.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +import tf + + +def talker(): + rospy.init_node("following_marker", anonymous=True) + + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(20) + + listener = tf.TransformListener() + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "basic_cube" + + print("publishing ...") + while not rospy.is_shutdown(): + now = rospy.Time.now() - rospy.Duration(0.1) + + try: + trans, rot = listener.lookupTransform("joint1", "basic_shapes", now) + except Exception as e: + print(e) + continue + + print(type(trans), trans) + print(type(rot), rot) + + # marker 标记 + marker_.header.stamp = now + marker_.type = marker_.CUBE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial. 标记初始位置 + marker_.pose.position.x = trans[0] + marker_.pose.position.y = trans[1] + marker_.pose.position.z = trans[2] + marker_.pose.orientation.x = rot[0] + marker_.pose.orientation.y = rot[1] + marker_.pose.orientation.z = rot[2] + marker_.pose.orientation.w = rot[3] + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mecharm/mecharm_pi/scripts/listen_real.py b/mecharm/mecharm_pi/scripts/listen_real.py new file mode 100644 index 0000000..617935e --- /dev/null +++ b/mecharm/mecharm_pi/scripts/listen_real.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +# from mycobot_communication.srv import GetAngles +from mypalletizer_communication.srv import GetAngles +# from pymycobot.mypalletizer import MyPalletizer + + +def talker(): + rospy.loginfo("start ...") + rospy.init_node("real_listener", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state 发布关节状态 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable. + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server. + # 从服务获取真实的角度 + res = func() + if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: + continue + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + res.joint_4 * (math.pi / 180), + res.joint_5 * (math.pi / 180), + res.joint_6 * (math.pi / 180), + + ] + rospy.loginfo("res: {}".format(radians_list)) + + # publish angles. 发布角度 + joint_state_send.header.stamp = rospy.Time.now() + joint_state_send.position = radians_list + pub.publish(joint_state_send) + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mecharm/mecharm_pi/scripts/listen_real_of_topic.py b/mecharm/mecharm_pi/scripts/listen_real_of_topic.py new file mode 100644 index 0000000..f316507 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/listen_real_of_topic.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.msg import MycobotAngles +from mypalletizer_communication.msg import MypalAngles + + +class Listener(object): + def __init__(self): + super(Listener, self).__init__() + + rospy.loginfo("start ...") + rospy.init_node("real_listener_1", anonymous=True) + # 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("mycobot/angles_real", MycobotAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`mycobot/angles_real` subscriber callback method. + + Args: + data (MycobotAngles): callback argument. + """ + # ini publisher object. + # 初始化发布者对象 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + # "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + joint_state_send.header.stamp = rospy.Time.now() + + # process callback data. 处理回调数据 + radians_list = [ + data.joint_1 * (math.pi / 180), + data.joint_2 * (math.pi / 180), + data.joint_3 * (math.pi / 180), + data.joint_4 * (math.pi / 180), + data.joint_5 * (math.pi / 180), + data.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + joint_state_send.position = radians_list + self.pub.publish(joint_state_send) + + +if __name__ == "__main__": + try: + Listener() + except rospy.ROSInterruptException: + pass diff --git a/mecharm/mecharm_pi/scripts/simple_gui.py b/mecharm/mecharm_pi/scripts/simple_gui.py new file mode 100644 index 0000000..20e7c18 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/simple_gui.py @@ -0,0 +1,478 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +import Tkinter as tk +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import time +from rospy import ServiceException + + +class Window: + def __init__(self, handle): + self.win = handle + self.win.resizable(0, 0) # fixed window size，固定窗口大小 + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # set default speed，设置默认速度 + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # Get the data of the robotic arm，获取机械臂数据 + self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.get_date() + + # get screen width and height.获取屏幕宽度和高度 + self.ws = self.win.winfo_screenwidth() # width of the screen + self.hs = self.win.winfo_screenheight() # height of the screen + # calculate x and y coordinates for the Tk root window + # 计算 Tk 根窗口的 x 和 y 坐标 + x = (self.ws / 2) - 190 + y = (self.hs / 2) - 250 + self.win.geometry("430x370+{}+{}".format(x, y)) + # layout,布局 + self.set_layout() + # input section,输入部分 + self.need_input() + # Show part,展示部分 + self.show_init() + + # Set the joint buttons 设置joint按钮 + tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # coordination settings button,coordination 设置按钮 + tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # Gripper switch button,夹爪开关按钮 + tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( + row=1, column=0, sticky="w", padx=3, pady=50 + ) + tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid( + row=1, column=1, sticky="w", padx=3, pady=2 + ) + + def connect_ser(self): + rospy.init_node("simple_gui", anonymous=True, disable_signals=True) + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + try: + self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + self.switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus + ) + except: + print("start error ...") + exit(1) + + print("Connect service success.") + + def set_layout(self): + self.frmLT = tk.Frame(width=200, height=200) + self.frmLC = tk.Frame(width=200, height=200) + self.frmLB = tk.Frame(width=200, height=200) + self.frmRT = tk.Frame(width=200, height=200) + self.frmLT.grid(row=0, column=0, padx=1, pady=3) + self.frmLC.grid(row=1, column=0, padx=1, pady=3) + self.frmLB.grid(row=1, column=1, padx=2, pady=3) + self.frmRT.grid(row=0, column=1, padx=2, pady=3) + + def need_input(self): + # input hint,输入提示 + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 + tk.Label(self.frmRT, text=" z ").grid(row=2) + tk.Label(self.frmRT, text=" rx ").grid(row=3) + tk.Label(self.frmRT, text=" ry ").grid(row=4) + tk.Label(self.frmRT, text=" rz ").grid(row=5) + + # Set the default value of the input box,设置输入框的默认值 + self.j1_default = tk.StringVar() + self.j1_default.set(self.res_angles[0]) + self.j2_default = tk.StringVar() + self.j2_default.set(self.res_angles[1]) + self.j3_default = tk.StringVar() + self.j3_default.set(self.res_angles[2]) + self.j4_default = tk.StringVar() + self.j4_default.set(self.res_angles[3]) + self.j5_default = tk.StringVar() + self.j5_default.set(self.res_angles[4]) + self.j6_default = tk.StringVar() + self.j6_default.set(self.res_angles[5]) + + self.x_default = tk.StringVar() + self.x_default.set(self.record_coords[0]) + self.y_default = tk.StringVar() + self.y_default.set(self.record_coords[1]) + self.z_default = tk.StringVar() + self.z_default.set(self.record_coords[2]) + self.rx_default = tk.StringVar() + self.rx_default.set(self.record_coords[3]) + self.ry_default = tk.StringVar() + self.ry_default.set(self.record_coords[4]) + self.rz_default = tk.StringVar() + self.rz_default.set(self.record_coords[5]) + + # joint input box,joint 输入框 + self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) + self.J_1.grid(row=0, column=1, pady=3) + self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) + self.J_2.grid(row=1, column=1, pady=3) + self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) + self.J_3.grid(row=2, column=1, pady=3) + self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) + self.J_4.grid(row=3, column=1, pady=3) + self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default) + self.J_5.grid(row=4, column=1, pady=3) + self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) + self.J_6.grid(row=5, column=1, pady=3) + + # coord input box,coord 输入框 + self.x = tk.Entry(self.frmRT, textvariable=self.x_default) + self.x.grid(row=0, column=1, pady=3, padx=0) + self.y = tk.Entry(self.frmRT, textvariable=self.y_default) + self.y.grid(row=1, column=1, pady=3) + self.z = tk.Entry(self.frmRT, textvariable=self.z_default) + self.z.grid(row=2, column=1, pady=3) + self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) + self.rx.grid(row=3, column=1, pady=3) + self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default) + self.ry.grid(row=4, column=1, pady=3) + self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) + self.rz.grid(row=5, column=1, pady=3) + + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 + self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6] + self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] + + # speed input box,速度输入框 + tk.Label( + self.frmLB, + text="speed", + ).grid(row=0, column=0) + self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10) + self.get_speed.grid(row=0, column=1) + + def show_init(self): + # show,显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLC, text="Joint 6 ").grid(row=5) + + # get数据 + + # show,展示出来 + self.cont_1 = tk.StringVar(self.frmLC) + self.cont_1.set(str(self.res_angles[0]) + "°") + self.cont_2 = tk.StringVar(self.frmLC) + self.cont_2.set(str(self.res_angles[1]) + "°") + self.cont_3 = tk.StringVar(self.frmLC) + self.cont_3.set(str(self.res_angles[2]) + "°") + self.cont_4 = tk.StringVar(self.frmLC) + self.cont_4.set(str(self.res_angles[3]) + "°") + self.cont_5 = tk.StringVar(self.frmLC) + self.cont_5.set(str(self.res_angles[4]) + "°") + self.cont_6 = tk.StringVar(self.frmLC) + self.cont_6.set(str(self.res_angles[5]) + "°") + self.cont_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.cont_4, + self.cont_5, + self.cont_6, + self.speed, + self.model, + ] + + self.show_j1 = tk.Label( + self.frmLC, + textvariable=self.cont_1, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=1, padx=0, pady=5) + + self.show_j2 = tk.Label( + self.frmLC, + textvariable=self.cont_2, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=1, padx=0, pady=5) + self.show_j3 = tk.Label( + self.frmLC, + textvariable=self.cont_3, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=1, padx=0, pady=5) + self.show_j4 = tk.Label( + self.frmLC, + textvariable=self.cont_4, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=1, padx=0, pady=5) + self.show_j5 = tk.Label( + self.frmLC, + textvariable=self.cont_5, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=1, padx=0, pady=5) + self.show_j6 = tk.Label( + self.frmLC, + textvariable=self.cont_6, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=1, padx=5, pady=5) + + self.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + self.show_j4, + self.show_j5, + self.show_j6, + ] + + # show,显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) + tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) + tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) + tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) + tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3) + self.coord_x = tk.StringVar() + self.coord_x.set(str(self.record_coords[0])) + self.coord_y = tk.StringVar() + self.coord_y.set(str(self.record_coords[1])) + self.coord_z = tk.StringVar() + self.coord_z.set(str(self.record_coords[2])) + self.coord_rx = tk.StringVar() + self.coord_rx.set(str(self.record_coords[3])) + self.coord_ry = tk.StringVar() + self.coord_ry.set(str(self.record_coords[4])) + self.coord_rz = tk.StringVar() + self.coord_rz.set(str(self.record_coords[5])) + + self.coord_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.coord_rx, + self.coord_ry, + self.coord_rz, + self.speed, + self.model, + ] + + self.show_x = tk.Label( + self.frmLC, + textvariable=self.coord_x, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=4, padx=5, pady=5) + self.show_y = tk.Label( + self.frmLC, + textvariable=self.coord_y, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=4, padx=5, pady=5) + self.show_z = tk.Label( + self.frmLC, + textvariable=self.coord_z, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=4, padx=5, pady=5) + self.show_rx = tk.Label( + self.frmLC, + textvariable=self.coord_rx, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=4, padx=5, pady=5) + self.show_ry = tk.Label( + self.frmLC, + textvariable=self.coord_ry, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=4, padx=5, pady=5) + self.show_rz = tk.Label( + self.frmLC, + textvariable=self.coord_rz, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=4, padx=5, pady=5) + + # mm， Unit show，单位展示 + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(6): + tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( + row=i, column=5 + ) + + def gripper_open(self): + try: + self.switch_gripper(True) + except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error + # 可能由于该方法没有返回值，服务抛出无法处理的错误 + pass + + def gripper_close(self): + try: + self.switch_gripper(False) + except ServiceException: + pass + + def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm + # 获取 coord 输入的数据，发送给机械臂 + c_value = [] + for i in self.all_c: + # print(type(i.get())) + c_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + c_value.append(self.speed) + c_value.append(self.model) + # print(c_value) + try: + self.set_coords(*c_value) + except ServiceException: + pass + self.show_j_date(c_value[:-2], "coord") + + def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm + # 获取joint输入的数据，发送给机械臂 + j_value = [] + for i in self.all_j: + # print(type(i.get())) + j_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + j_value.append(self.speed) + + try: + self.set_angles(*j_value) + except ServiceException: + pass + self.show_j_date(j_value[:-1]) + # return j_value,c_value,speed + + def get_date(self): + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 + t = time.time() + while time.time() - t < 2: + self.res = self.get_coords() + if self.res.x > 1: + break + time.sleep(0.1) + + t = time.time() + while time.time() - t < 2: + self.angles = self.get_angles() + if self.angles.joint_1 > 1: + break + time.sleep(0.1) + # print(self.angles.joint_1) + self.record_coords = [ + round(self.res.x, 2), + round(self.res.y, 2), + round(self.res.z, 2), + round(self.res.rx, 2), + round(self.res.ry, 2), + round(self.res.rz, 2), + self.speed, + self.model, + ] + self.res_angles = [ + round(self.angles.joint_1, 2), + round(self.angles.joint_2, 2), + round(self.angles.joint_3, 2), + round(self.angles.joint_4, 2), + round(self.angles.joint_5, 2), + round(self.angles.joint_6, 2), + ] + # print('coord:',self.record_coords) + # print('angles:',self.res_angles) + + # def send_input(self,dates): + def show_j_date(self, date, way=""): + # Show data,展示数据 + if way == "coord": + for i, j in zip(date, self.coord_all): + # print(i) + j.set(str(i)) + else: + for i, j in zip(date, self.cont_all): + j.set(str(i) + "°") + + def run(self): + while True: + try: + self.win.update() + time.sleep(0.001) + except tk.TclError as e: + if "application has been destroyed" in str(e): + break + else: + raise + + +def main(): + window = tk.Tk() + window.title("mycobot ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/mecharm/mecharm_pi/scripts/slider_control.py b/mecharm/mecharm_pi/scripts/slider_control.py new file mode 100644 index 0000000..34eb434 --- /dev/null +++ b/mecharm/mecharm_pi/scripts/slider_control.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- + +"""[summary] +This file obtains the joint angle of the manipulator in ROS, +and then sends it directly to the real manipulator using `pymycobot` API. +This file is [slider_control.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyUSB0' + baud: serial prot baudrate. Defaults is 115200. +""" + +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot +from pymycobot.mypalletizer import MyPalletizer + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(value) + del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！ + # data_list[3] = data_list[4] + # print(data_list) + mc.send_radians(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyAMA0") # Select connected device. 选择连接设备 + baud = rospy.get_param("~baud", 1000000) + print(port, baud) + mc = MyCobot(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 + print("spin ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mecharm/mecharm_pi/scripts/teleop_keyboard.py b/mecharm/mecharm_pi/scripts/teleop_keyboard.py new file mode 100644 index 0000000..d48c91a --- /dev/null +++ b/mecharm/mecharm_pi/scripts/teleop_keyboard.py @@ -0,0 +1,165 @@ +#!/usr/bin/env python +# -*- coding:utf-8 -*- +from __future__ import print_function +from mycobot_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 = """\ +MyCobot Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z,rx]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + + u(rx+) i(rx-) + + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 40) + change_percent = rospy.get_param("~change_percent", 5) + + change_angle = 180 * change_percent / 100 + change_len = 250 * change_percent / 100 + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + print("service ready.") + try: + get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus) + except: + print("start error ...") + exit(1) + + + init_pose = [0, 0,0, 0, speed] + home_pose = [0,30, 30, 0,speed] + + # rsp = set_angles(*init_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, speed, model] + + print(record_coords) + + try: + print(msg) + print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 + while 1: + try: + # print("\r current coords: %s" % record_coords, end="") + with Raw(sys.stdin): + key = sys.stdin.read(1) + if key == "q": + break + elif key in ["w", "W"]: + record_coords[0] += change_len + set_coords(*record_coords) + elif key in ["s", "S"]: + record_coords[0] -= change_len + set_coords(*record_coords) + elif key in ["a", "A"]: + record_coords[1] -= change_len + set_coords(*record_coords) + elif key in ["d", "D"]: + record_coords[1] += change_len + set_coords(*record_coords) + elif key in ["z", "Z"]: + record_coords[2] -= change_len + set_coords(*record_coords) + elif key in ["x", "X"]: + record_coords[2] += change_len + set_coords(*record_coords) + elif key in ["u", "U"]: + record_coords[3] += change_angle + set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[3] -= change_angle + set_coords(*record_coords) + elif key in ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + elif key in "2": + rsp = set_angles(*home_pose) + elif key in "3": + rep = get_angles() + home_pose[0] = rep.joint_1 + home_pose[1] = rep.joint_2 + home_pose[2] = rep.joint_3 + home_pose[3] = rep.joint_4 + # home_pose[4] = rep.joint_5 + else: + continue + + except Exception as e: + # print(e) + continue + + except Exception as e: + print(e) + + +if __name__ == "__main__": + try: + teleop_keyboard() + except rospy.ROSInterruptException: + pass From 7bb9b6768321293a1a255903f8bea40d24a6dbb1 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 26 Apr 2022 17:06:40 +0800 Subject: [PATCH 14/50] fix joint2 --- .../urdf/mecharm_pi/mecharm_pi.urdf | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf index 676f577..87cfd0f 100644 --- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf +++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf @@ -42,14 +42,14 @@ - + - + @@ -61,14 +61,14 @@ - + - + @@ -78,14 +78,14 @@ - + - + @@ -95,13 +95,13 @@ - + - + @@ -111,13 +111,13 @@ - + - + @@ -146,7 +146,7 @@ - + @@ -154,7 +154,7 @@ - + @@ -171,6 +171,6 @@ - + \ No newline at end of file From 099a86d6626d423b7f98e41cad1e81f14afb9aae Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 12:00:36 +0800 Subject: [PATCH 15/50] fix urdf --- .../urdf/mecharm_pi/mecharm_pi.urdf | 21 ++++++++----------- 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf index 87cfd0f..7f35ec0 100644 --- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf +++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf @@ -42,17 +42,16 @@ - + - + - @@ -95,13 +94,13 @@ - + - + @@ -111,13 +110,13 @@ - + - + @@ -136,8 +135,7 @@ - - + @@ -146,7 +144,7 @@ - + @@ -162,8 +160,7 @@ - - + From 2a76f925df4bda6302e1b9713f8a393360820ef9 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 12:01:49 +0800 Subject: [PATCH 16/50] fix bug --- mecharm/mecharm_pi/scripts/follow_display.py | 2 +- mecharm/mecharm_pi/scripts/listen_real.py | 4 +-- .../scripts/listen_real_of_topic.py | 2 +- mecharm/mecharm_pi/scripts/teleop_keyboard.py | 29 ++++++++++++++----- 4 files changed, 24 insertions(+), 13 deletions(-) diff --git a/mecharm/mecharm_pi/scripts/follow_display.py b/mecharm/mecharm_pi/scripts/follow_display.py index eed0c18..c36e0f7 100644 --- a/mecharm/mecharm_pi/scripts/follow_display.py +++ b/mecharm/mecharm_pi/scripts/follow_display.py @@ -70,7 +70,7 @@ def talker(): # rospy.loginfo('{}'.format(data_list)) joint_state_send.position = data_list - data_list.insert(3,0.0) + # data_list.insert(3,0.0) print(joint_state_send.position) pub.publish(joint_state_send) diff --git a/mecharm/mecharm_pi/scripts/listen_real.py b/mecharm/mecharm_pi/scripts/listen_real.py index 617935e..9eb2919 100644 --- a/mecharm/mecharm_pi/scripts/listen_real.py +++ b/mecharm/mecharm_pi/scripts/listen_real.py @@ -7,9 +7,7 @@ import math import rospy from sensor_msgs.msg import JointState from std_msgs.msg import Header -# from mycobot_communication.srv import GetAngles -from mypalletizer_communication.srv import GetAngles -# from pymycobot.mypalletizer import MyPalletizer +from mycobot_communication.srv import GetAngles def talker(): diff --git a/mecharm/mecharm_pi/scripts/listen_real_of_topic.py b/mecharm/mecharm_pi/scripts/listen_real_of_topic.py index f316507..6ca18bc 100644 --- a/mecharm/mecharm_pi/scripts/listen_real_of_topic.py +++ b/mecharm/mecharm_pi/scripts/listen_real_of_topic.py @@ -6,7 +6,7 @@ import rospy from sensor_msgs.msg import JointState from std_msgs.msg import Header from mycobot_communication.msg import MycobotAngles -from mypalletizer_communication.msg import MypalAngles + class Listener(object): diff --git a/mecharm/mecharm_pi/scripts/teleop_keyboard.py b/mecharm/mecharm_pi/scripts/teleop_keyboard.py index d48c91a..c2e03d4 100644 --- a/mecharm/mecharm_pi/scripts/teleop_keyboard.py +++ b/mecharm/mecharm_pi/scripts/teleop_keyboard.py @@ -15,14 +15,15 @@ import roslib msg = """\ MyCobot Teleop Keyboard Controller --------------------------- -Movimg options(control coordinations [x,y,z,rx]): +Movimg options(control coordinations [x,y,z,rx,ry,rz]): w(x+) a(y-) s(x-) d(y+) - z(z-) x(z+) + z(z-) x(z+) - u(rx+) i(rx-) +u(rx+) i(ry+) o(rz+) +j(rx-) k(ry-) l(rz-) Gripper control: @@ -82,8 +83,8 @@ def teleop_keyboard(): exit(1) - init_pose = [0, 0,0, 0, speed] - home_pose = [0,30, 30, 0,speed] + init_pose = [0, 0, 0, 0, 0, 0, speed] + home_pose = [0, 8, -127, 40, 0, 0, speed] # rsp = set_angles(*init_pose) @@ -93,7 +94,7 @@ def teleop_keyboard(): break time.sleep(0.1) - record_coords = [res.x, res.y, res.z, res.rx, speed, model] + record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] print(record_coords) @@ -129,9 +130,21 @@ def teleop_keyboard(): elif key in ["u", "U"]: record_coords[3] += change_angle set_coords(*record_coords) - elif key in ["i", "I"]: + elif key in ["j", "J"]: record_coords[3] -= change_angle set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[4] += change_angle + set_coords(*record_coords) + elif key in ["k", "K"]: + record_coords[4] -= change_angle + set_coords(*record_coords) + elif key in ["o", "O"]: + record_coords[5] += change_angle + set_coords(*record_coords) + elif key in ["l", "L"]: + record_coords[5] -= change_angle + set_coords(*record_coords) elif key in ["g", "G"]: switch_gripper(True) elif key in ["h", "H"]: @@ -146,7 +159,7 @@ def teleop_keyboard(): home_pose[1] = rep.joint_2 home_pose[2] = rep.joint_3 home_pose[3] = rep.joint_4 - # home_pose[4] = rep.joint_5 + home_pose[4] = rep.joint_5 else: continue From b0d086bc120f516987e3c480d04d14dbce35043c Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 14:13:42 +0800 Subject: [PATCH 17/50] add mecharm_communication of mecharm --- mecharm/mecharm_communication/CMakeLists.txt | 216 +++++++++++++++++ mecharm/mecharm_communication/LICENSE | 25 ++ .../launch/communication_jsnn.launch | 11 + .../launch/communication_seeed.launch | 11 + .../launch/communication_service.launch | 11 + .../launch/communication_topic.launch | 11 + .../launch/communication_topic_pi.launch | 11 + .../msg/MycobotAngles.msg | 6 + .../msg/MycobotCoords.msg | 6 + .../msg/MycobotGripperStatus.msg | 1 + .../msg/MycobotPumpStatus.msg | 3 + .../msg/MycobotSetAngles.msg | 8 + .../msg/MycobotSetCoords.msg | 9 + mecharm/mecharm_communication/package.xml | 86 +++++++ .../scripts/mecharm_services.py | 152 ++++++++++++ .../scripts/mecharm_topics.py | 216 +++++++++++++++++ .../scripts/mecharm_topics_jsnn.py | 224 ++++++++++++++++++ .../scripts/mecharm_topics_pi.py | 218 +++++++++++++++++ .../scripts/mecharm_topics_seeed.py | 215 +++++++++++++++++ .../mecharm_communication/srv/GetAngles.srv | 9 + .../mecharm_communication/srv/GetCoords.srv | 9 + .../srv/GripperStatus.srv | 5 + .../mecharm_communication/srv/PumpStatus.srv | 7 + .../mecharm_communication/srv/SetAngles.srv | 12 + .../mecharm_communication/srv/SetCoords.srv | 13 + 25 files changed, 1495 insertions(+) create mode 100644 mecharm/mecharm_communication/CMakeLists.txt create mode 100644 mecharm/mecharm_communication/LICENSE create mode 100644 mecharm/mecharm_communication/launch/communication_jsnn.launch create mode 100644 mecharm/mecharm_communication/launch/communication_seeed.launch create mode 100644 mecharm/mecharm_communication/launch/communication_service.launch create mode 100644 mecharm/mecharm_communication/launch/communication_topic.launch create mode 100644 mecharm/mecharm_communication/launch/communication_topic_pi.launch create mode 100644 mecharm/mecharm_communication/msg/MycobotAngles.msg create mode 100644 mecharm/mecharm_communication/msg/MycobotCoords.msg create mode 100644 mecharm/mecharm_communication/msg/MycobotGripperStatus.msg create mode 100644 mecharm/mecharm_communication/msg/MycobotPumpStatus.msg create mode 100644 mecharm/mecharm_communication/msg/MycobotSetAngles.msg create mode 100644 mecharm/mecharm_communication/msg/MycobotSetCoords.msg create mode 100644 mecharm/mecharm_communication/package.xml create mode 100755 mecharm/mecharm_communication/scripts/mecharm_services.py create mode 100755 mecharm/mecharm_communication/scripts/mecharm_topics.py create mode 100755 mecharm/mecharm_communication/scripts/mecharm_topics_jsnn.py create mode 100755 mecharm/mecharm_communication/scripts/mecharm_topics_pi.py create mode 100755 mecharm/mecharm_communication/scripts/mecharm_topics_seeed.py create mode 100644 mecharm/mecharm_communication/srv/GetAngles.srv create mode 100644 mecharm/mecharm_communication/srv/GetCoords.srv create mode 100644 mecharm/mecharm_communication/srv/GripperStatus.srv create mode 100644 mecharm/mecharm_communication/srv/PumpStatus.srv create mode 100644 mecharm/mecharm_communication/srv/SetAngles.srv create mode 100644 mecharm/mecharm_communication/srv/SetCoords.srv diff --git a/mecharm/mecharm_communication/CMakeLists.txt b/mecharm/mecharm_communication/CMakeLists.txt new file mode 100644 index 0000000..cdf01e2 --- /dev/null +++ b/mecharm/mecharm_communication/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mecharm_communication) +add_compile_options(-std=c++11) + +## 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 + rospy + std_msgs + genmsg + message_generation +) + +## 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 + MycobotAngles.msg + MycobotCoords.msg + MycobotSetAngles.msg + MycobotSetCoords.msg + MycobotGripperStatus.msg + MycobotPumpStatus.msg +) + +## Generate services in the 'srv' folder +add_service_files(FILES + GetAngles.srv + SetAngles.srv + GetCoords.srv + SetCoords.srv + GripperStatus.srv + PumpStatus.srv +) + +## Generate added messages and services +generate_messages(DEPENDENCIES std_msgs) + +## 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 +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) + +########### +## 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/${PROJECT_NAME}/mycobot_commuication.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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_commuication_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/mecharm_services.py + scripts/mecharm_topics.py + 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_commuication.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/mecharm/mecharm_communication/LICENSE b/mecharm/mecharm_communication/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mecharm/mecharm_communication/LICENSE @@ -0,0 +1,25 @@ +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/mecharm/mecharm_communication/launch/communication_jsnn.launch b/mecharm/mecharm_communication/launch/communication_jsnn.launch new file mode 100644 index 0000000..ad36017 --- /dev/null +++ b/mecharm/mecharm_communication/launch/communication_jsnn.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mecharm/mecharm_communication/launch/communication_seeed.launch b/mecharm/mecharm_communication/launch/communication_seeed.launch new file mode 100644 index 0000000..812e73c --- /dev/null +++ b/mecharm/mecharm_communication/launch/communication_seeed.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mecharm/mecharm_communication/launch/communication_service.launch b/mecharm/mecharm_communication/launch/communication_service.launch new file mode 100644 index 0000000..b3da477 --- /dev/null +++ b/mecharm/mecharm_communication/launch/communication_service.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mecharm/mecharm_communication/launch/communication_topic.launch b/mecharm/mecharm_communication/launch/communication_topic.launch new file mode 100644 index 0000000..45226f6 --- /dev/null +++ b/mecharm/mecharm_communication/launch/communication_topic.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mecharm/mecharm_communication/launch/communication_topic_pi.launch b/mecharm/mecharm_communication/launch/communication_topic_pi.launch new file mode 100644 index 0000000..959557e --- /dev/null +++ b/mecharm/mecharm_communication/launch/communication_topic_pi.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mecharm/mecharm_communication/msg/MycobotAngles.msg b/mecharm/mecharm_communication/msg/MycobotAngles.msg new file mode 100644 index 0000000..9aa7d97 --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotAngles.msg @@ -0,0 +1,6 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 diff --git a/mecharm/mecharm_communication/msg/MycobotCoords.msg b/mecharm/mecharm_communication/msg/MycobotCoords.msg new file mode 100644 index 0000000..08f6dbd --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotCoords.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/mecharm/mecharm_communication/msg/MycobotGripperStatus.msg b/mecharm/mecharm_communication/msg/MycobotGripperStatus.msg new file mode 100644 index 0000000..18d6277 --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotGripperStatus.msg @@ -0,0 +1 @@ +bool Status \ No newline at end of file diff --git a/mecharm/mecharm_communication/msg/MycobotPumpStatus.msg b/mecharm/mecharm_communication/msg/MycobotPumpStatus.msg new file mode 100644 index 0000000..2373241 --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotPumpStatus.msg @@ -0,0 +1,3 @@ +bool Status +int8 Pin1 +int8 Pin2 diff --git a/mecharm/mecharm_communication/msg/MycobotSetAngles.msg b/mecharm/mecharm_communication/msg/MycobotSetAngles.msg new file mode 100644 index 0000000..3888b50 --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotSetAngles.msg @@ -0,0 +1,8 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 + +int8 speed diff --git a/mecharm/mecharm_communication/msg/MycobotSetCoords.msg b/mecharm/mecharm_communication/msg/MycobotSetCoords.msg new file mode 100644 index 0000000..d4c7e54 --- /dev/null +++ b/mecharm/mecharm_communication/msg/MycobotSetCoords.msg @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model diff --git a/mecharm/mecharm_communication/package.xml b/mecharm/mecharm_communication/package.xml new file mode 100644 index 0000000..9b464bd --- /dev/null +++ b/mecharm/mecharm_communication/package.xml @@ -0,0 +1,86 @@ + + + mecharm_communication + 0.1.0 + The mecharm_commuication package + + + + + zachary + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + rospy + std_msgs + message_generation + + roscpp + rospy + actionlib + mycobot_description + + + + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + message_runtime + + + + + + diff --git a/mecharm/mecharm_communication/scripts/mecharm_services.py b/mecharm/mecharm_communication/scripts/mecharm_services.py new file mode 100755 index 0000000..322127c --- /dev/null +++ b/mecharm/mecharm_communication/scripts/mecharm_services.py @@ -0,0 +1,152 @@ +#!/usr/bin/env python2 + # -*- coding: UTF-8 -*- +import time +import rospy +from mycobot_communication.srv import * + +from pymycobot.mycobot import MyCobot + +mc = None + + +def create_handle(): + global mc + rospy.init_node("mecharm_services") + rospy.loginfo("start ...") + port = rospy.get_param("~port") + baud = rospy.get_param("~baud") + rospy.loginfo("%s,%s" % (port, baud)) + mc = MyCobot(port, baud) + + +def create_services(): + rospy.Service("set_joint_angles", SetAngles, set_angles) + rospy.Service("get_joint_angles", GetAngles, get_angles) + rospy.Service("set_joint_coords", SetCoords, set_coords) + rospy.Service("get_joint_coords", GetCoords, get_coords) + rospy.Service("switch_gripper_status", GripperStatus, switch_status) + rospy.Service("switch_pump_status", PumpStatus, toggle_pump) + rospy.loginfo("ready") + rospy.spin() + + +def set_angles(req): + """set angles，设置角度""" + angles = [ + req.joint_1, + req.joint_2, + req.joint_3, + req.joint_4, + req.joint_5, + req.joint_6, + ] + sp = req.speed + + if mc: + mc.send_angles(angles, sp) + + return SetAnglesResponse(True) + + +def get_angles(req): + """get angles,获取角度""" + if mc: + angles = mc.get_angles() + return GetAnglesResponse(*angles) + + +def set_coords(req): + coords = [ + req.x, + req.y, + req.z, + req.rx, + req.ry, + req.rz, + ] + sp = req.speed + mod = req.model + + if mc: + mc.send_coords(coords, sp, mod) + + return SetCoordsResponse(True) + + +def get_coords(req): + if mc: + coords = mc.get_coords() + return GetCoordsResponse(*coords) + + +def switch_status(req): + """Gripper switch status""" + """夹爪开关状态""" + if mc: + if req.Status: + mc.set_gripper_state(0, 80) + else: + mc.set_gripper_state(1, 80) + + return GripperStatusResponse(True) + + +def toggle_pump(req): + if mc: + if req.Status: + mc.set_basic_output(req.Pin1, 0) + mc.set_basic_output(req.Pin2, 0) + else: + mc.set_basic_output(req.Pin1, 1) + mc.set_basic_output(req.Pin2, 1) + + return PumpStatusResponse(True) + + +robot_msg = """ +MyCobot Status +-------------------------------- +Joint Limit: + joint 1: -160 ~ +160 + joint 2: -90 ~ +90 + joint 3: -180 ~ +45 + joint 4: -160 ~ +160 + joint 5: -100 ~ +100 + joint 6: -180 ~ +180 + +Connect Status: %s + +Servo Infomation: %s + +Servo Temperature: %s + +Atom Version: %s +""" + + +def output_robot_message(): + connect_status = False + servo_infomation = "unknown" + servo_temperature = "unknown" + atom_version = "unknown" + + if mc: + cn = mc.is_controller_connected() + if cn == 1: + connect_status = True + time.sleep(0.1) + si = mc.is_all_servo_enable() + if si == 1: + servo_infomation = "all connected" + + print( + robot_msg % (connect_status, servo_infomation, + servo_temperature, atom_version) + ) + + +if __name__ == "__main__": + # print(MyCobot.__dict__) + create_handle() + output_robot_message() + create_services() diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics.py b/mecharm/mecharm_communication/scripts/mecharm_topics.py new file mode 100755 index 0000000..799fe4b --- /dev/null +++ b/mecharm/mecharm_communication/scripts/mecharm_topics.py @@ -0,0 +1,216 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + +from pymycobot.mycobot import MyCobot + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobot(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", + MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", + MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics_jsnn.py b/mecharm/mecharm_communication/scripts/mecharm_topics_jsnn.py new file mode 100755 index 0000000..07304f8 --- /dev/null +++ b/mecharm/mecharm_communication/scripts/mecharm_topics_jsnn.py @@ -0,0 +1,224 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +# from pymycobot import MyCobot + +from pymycobot import MyCobotSocket # pi + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can# + # 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了 + # tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # Select connected device，选择连接设备 + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + # self.mc = MyCobot(port,baud) + self.mc = MyCobotSocket(port, baud) # port + self.mc.connect() + + + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + """Subscribe to coordinates""" + """订阅坐标""" + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py b/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py new file mode 100755 index 0000000..f43d0da --- /dev/null +++ b/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py @@ -0,0 +1,218 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + + +from pymycobot import MyCobotSocket + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread.创建一个返回的子线程。 父线程等待 KeyboardInterrupt + 然后杀死子线程。 + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics_pi") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobotSocket(port, baud) # port + self.mc.connect() #pi + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics_seeed.py b/mecharm/mecharm_communication/scripts/mecharm_topics_seeed.py new file mode 100755 index 0000000..d1e8154 --- /dev/null +++ b/mecharm/mecharm_communication/scripts/mecharm_topics_seeed.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +from pymycobot import MyCobot + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobot(port,baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/mecharm/mecharm_communication/srv/GetAngles.srv b/mecharm/mecharm_communication/srv/GetAngles.srv new file mode 100644 index 0000000..6992699 --- /dev/null +++ b/mecharm/mecharm_communication/srv/GetAngles.srv @@ -0,0 +1,9 @@ + +--- + +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 diff --git a/mecharm/mecharm_communication/srv/GetCoords.srv b/mecharm/mecharm_communication/srv/GetCoords.srv new file mode 100644 index 0000000..c1f9bbc --- /dev/null +++ b/mecharm/mecharm_communication/srv/GetCoords.srv @@ -0,0 +1,9 @@ + +--- + +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/mecharm/mecharm_communication/srv/GripperStatus.srv b/mecharm/mecharm_communication/srv/GripperStatus.srv new file mode 100644 index 0000000..3887d75 --- /dev/null +++ b/mecharm/mecharm_communication/srv/GripperStatus.srv @@ -0,0 +1,5 @@ +bool Status + +--- + +bool Flag \ No newline at end of file diff --git a/mecharm/mecharm_communication/srv/PumpStatus.srv b/mecharm/mecharm_communication/srv/PumpStatus.srv new file mode 100644 index 0000000..8bd4b53 --- /dev/null +++ b/mecharm/mecharm_communication/srv/PumpStatus.srv @@ -0,0 +1,7 @@ +bool Status +int8 Pin1 +int8 Pin2 + +--- + +bool Flag \ No newline at end of file diff --git a/mecharm/mecharm_communication/srv/SetAngles.srv b/mecharm/mecharm_communication/srv/SetAngles.srv new file mode 100644 index 0000000..6f8d877 --- /dev/null +++ b/mecharm/mecharm_communication/srv/SetAngles.srv @@ -0,0 +1,12 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 + +int8 speed + +--- + +bool Flag \ No newline at end of file diff --git a/mecharm/mecharm_communication/srv/SetCoords.srv b/mecharm/mecharm_communication/srv/SetCoords.srv new file mode 100644 index 0000000..e5b1e52 --- /dev/null +++ b/mecharm/mecharm_communication/srv/SetCoords.srv @@ -0,0 +1,13 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model + +--- + +bool Flag \ No newline at end of file From 311c3986f98f4ff5cabc14802f97bc7eb7eb0df4 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 14:15:03 +0800 Subject: [PATCH 18/50] change mecharm_communication package --- mecharm/mecharm_pi/launch/simple_gui.launch | 2 +- mecharm/mecharm_pi/launch/teleop_keyboard.launch | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/mecharm/mecharm_pi/launch/simple_gui.launch b/mecharm/mecharm_pi/launch/simple_gui.launch index dd1a5c4..eaca517 100644 --- a/mecharm/mecharm_pi/launch/simple_gui.launch +++ b/mecharm/mecharm_pi/launch/simple_gui.launch @@ -14,7 +14,7 @@ - + diff --git a/mecharm/mecharm_pi/launch/teleop_keyboard.launch b/mecharm/mecharm_pi/launch/teleop_keyboard.launch index 224fbfc..234a2af 100644 --- a/mecharm/mecharm_pi/launch/teleop_keyboard.launch +++ b/mecharm/mecharm_pi/launch/teleop_keyboard.launch @@ -18,7 +18,7 @@ - + From 156eca3834f171417b9aeb6cf6a72ccdd035d079 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 15:34:18 +0800 Subject: [PATCH 19/50] change mecharm_communication name --- mecharm/mecharm_pi/package.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mecharm/mecharm_pi/package.xml b/mecharm/mecharm_pi/package.xml index f2c6b5c..045a256 100644 --- a/mecharm/mecharm_pi/package.xml +++ b/mecharm/mecharm_pi/package.xml @@ -18,9 +18,9 @@ std_msgs actionlib mycobot_description - mycobot_communication + mecharm_communication - mycobot_communication + mecharm_communication mycobot_description roscpp @@ -36,7 +36,7 @@ controller_manager python-tk mycobot_description - mycobot_communication + mecharm_communication From 78ed820dd57b7299ef04fc0c8cc6d111ea9203a7 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 27 Apr 2022 16:10:53 +0800 Subject: [PATCH 20/50] fix bug --- mecharm/mecharm_pi/scripts/slider_control.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/mecharm/mecharm_pi/scripts/slider_control.py b/mecharm/mecharm_pi/scripts/slider_control.py index 34eb434..1e9352f 100644 --- a/mecharm/mecharm_pi/scripts/slider_control.py +++ b/mecharm/mecharm_pi/scripts/slider_control.py @@ -6,15 +6,15 @@ This file obtains the joint angle of the manipulator in ROS, and then sends it directly to the real manipulator using `pymycobot` API. This file is [slider_control.launch] related script. Passable parameters: - port: serial prot string. Defaults is '/dev/ttyUSB0' - baud: serial prot baudrate. Defaults is 115200. + port: serial prot string. Defaults is '/dev/ttyAMA0' + baud: serial prot baudrate. Defaults is 1000000. """ import rospy from sensor_msgs.msg import JointState from pymycobot.mycobot import MyCobot -from pymycobot.mypalletizer import MyPalletizer + mc = None @@ -26,8 +26,7 @@ def callback(data): data_list = [] for index, value in enumerate(data.position): data_list.append(value) - del data_list[3] # delete the angle of joint3 to joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！ - # data_list[3] = data_list[4] + # print(data_list) mc.send_radians(data_list, 80) # time.sleep(0.5) From 0037150d9b5be0ca8ca5436ee356a23b6b502eee Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 28 Apr 2022 09:42:33 +0800 Subject: [PATCH 21/50] fix bug --- mecharm/mecharm_pi/config/mecharm_pi.rviz | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mecharm/mecharm_pi/config/mecharm_pi.rviz b/mecharm/mecharm_pi/config/mecharm_pi.rviz index 39188bb..f747a73 100644 --- a/mecharm/mecharm_pi/config/mecharm_pi.rviz +++ b/mecharm/mecharm_pi/config/mecharm_pi.rviz @@ -177,10 +177,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 0.760397136 + Pitch: 0.469798148 Target Frame: Value: Orbit (rviz) - Yaw: 2.90539956 + Yaw: 5.69176626 Saved: ~ Window Geometry: Displays: From 2d9781e89b9b8a149b079ec5c3d340e3927ca842 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 29 Apr 2022 10:39:28 +0800 Subject: [PATCH 22/50] add mecharm_pi_moveit --- mecharm/mecharm_pi_moveit/.setup_assistant | 11 + mecharm/mecharm_pi_moveit/CMakeLists.txt | 22 ++ mecharm/mecharm_pi_moveit/LICENSE | 25 ++ .../config/chomp_planning.yaml | 18 ++ .../config/fake_controllers.yaml | 11 + .../mecharm_pi_moveit/config/firefighter.srdf | 50 ++++ .../config/joint_limits.yaml | 39 +++ .../mecharm_pi_moveit/config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 150 +++++++++++ .../config/ros_controllers.yaml | 27 ++ .../mecharm_pi_moveit/config/sensors_3d.yaml | 10 + .../launch/chomp_planning_pipeline.launch.xml | 10 + .../launch/default_warehouse_db.launch | 15 ++ mecharm/mecharm_pi_moveit/launch/demo.launch | 57 ++++ .../launch/demo_gazebo.launch | 70 +++++ .../fake_moveit_controller_manager.launch.xml | 9 + ...ghter_moveit_controller_manager.launch.xml | 10 + ...refighter_moveit_sensor_manager.launch.xml | 3 + .../mecharm_pi_moveit/launch/gazebo.launch | 23 ++ .../launch/joystick_control.launch | 17 ++ .../launch/mecharm_moveit.launch | 57 ++++ .../launch/move_group.launch | 77 ++++++ mecharm/mecharm_pi_moveit/launch/moveit.rviz | 250 ++++++++++++++++++ .../launch/moveit_rviz.launch | 16 ++ .../launch/ompl_planning_pipeline.launch.xml | 22 ++ .../launch/planning_context.launch | 24 ++ .../launch/planning_pipeline.launch.xml | 10 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 22 ++ .../launch/sensor_manager.launch.xml | 17 ++ .../launch/setup_assistant.launch | 15 ++ .../launch/trajectory_execution.launch.xml | 20 ++ .../mecharm_pi_moveit/launch/warehouse.launch | 15 ++ .../launch/warehouse_settings.launch.xml | 16 ++ mecharm/mecharm_pi_moveit/package.xml | 40 +++ ...th_planning_and_obstacle_avoidance_demo.py | 132 +++++++++ .../mecharm_pi_moveit/scripts/sync_plan.py | 41 +++ 37 files changed, 1367 insertions(+) create mode 100644 mecharm/mecharm_pi_moveit/.setup_assistant create mode 100644 mecharm/mecharm_pi_moveit/CMakeLists.txt create mode 100644 mecharm/mecharm_pi_moveit/LICENSE create mode 100644 mecharm/mecharm_pi_moveit/config/chomp_planning.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/fake_controllers.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/firefighter.srdf create mode 100644 mecharm/mecharm_pi_moveit/config/joint_limits.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/kinematics.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/ompl_planning.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/ros_controllers.yaml create mode 100644 mecharm/mecharm_pi_moveit/config/sensors_3d.yaml create mode 100644 mecharm/mecharm_pi_moveit/launch/chomp_planning_pipeline.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/default_warehouse_db.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/demo.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/demo_gazebo.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/fake_moveit_controller_manager.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/gazebo.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/joystick_control.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/mecharm_moveit.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/move_group.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/moveit.rviz create mode 100644 mecharm/mecharm_pi_moveit/launch/moveit_rviz.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/ompl_planning_pipeline.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/planning_context.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/planning_pipeline.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/ros_controllers.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/run_benchmark_ompl.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/sensor_manager.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/setup_assistant.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/trajectory_execution.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/launch/warehouse.launch create mode 100644 mecharm/mecharm_pi_moveit/launch/warehouse_settings.launch.xml create mode 100644 mecharm/mecharm_pi_moveit/package.xml create mode 100644 mecharm/mecharm_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py create mode 100644 mecharm/mecharm_pi_moveit/scripts/sync_plan.py diff --git a/mecharm/mecharm_pi_moveit/.setup_assistant b/mecharm/mecharm_pi_moveit/.setup_assistant new file mode 100644 index 0000000..c64dedc --- /dev/null +++ b/mecharm/mecharm_pi_moveit/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: mycobot_description + relative_path: urdf/mycobot/mycobot_urdf.urdf + xacro_args: "--inorder " + SRDF: + relative_path: config/firefighter.srdf + CONFIG: + author_name: zachary + author_email: lijun.zhang@elephantrobotics.com + generated_timestamp: 1626074107 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/CMakeLists.txt b/mecharm/mecharm_pi_moveit/CMakeLists.txt new file mode 100644 index 0000000..869ed9a --- /dev/null +++ b/mecharm/mecharm_pi_moveit/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mecharm_pi_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + scripts/path_planning_and_obstacle_avoidance_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mecharm/mecharm_pi_moveit/LICENSE b/mecharm/mecharm_pi_moveit/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/LICENSE @@ -0,0 +1,25 @@ +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/mecharm/mecharm_pi_moveit/config/chomp_planning.yaml b/mecharm/mecharm_pi_moveit/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/fake_controllers.yaml b/mecharm/mecharm_pi_moveit/config/fake_controllers.yaml new file mode 100644 index 0000000..75bb0dc --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/fake_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + + # - joint6output_to_joint6 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/firefighter.srdf b/mecharm/mecharm_pi_moveit/config/firefighter.srdf new file mode 100644 index 0000000..8f1340b --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/firefighter.srdf @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/config/joint_limits.yaml b/mecharm/mecharm_pi_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..fc67e8a --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1_to_base: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint2_to_joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3_to_joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4_to_joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5_to_joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6_to_joint5: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + # joint6output_to_joint6: + # has_velocity_limits: false + # max_velocity: 0 + # has_acceleration_limits: false + # max_acceleration: 0 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/kinematics.yaml b/mecharm/mecharm_pi_moveit/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/ompl_planning.yaml b/mecharm/mecharm_pi_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..82f7d9d --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/ros_controllers.yaml b/mecharm/mecharm_pi_moveit/config/ros_controllers.yaml new file mode 100644 index 0000000..6ece094 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/ros_controllers.yaml @@ -0,0 +1,27 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + # - joint6output_to_joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/config/sensors_3d.yaml b/mecharm/mecharm_pi_moveit/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/mecharm/mecharm_pi_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/mecharm/mecharm_pi_moveit/launch/chomp_planning_pipeline.launch.xml b/mecharm/mecharm_pi_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..848f2a0 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/default_warehouse_db.launch b/mecharm/mecharm_pi_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..396d7cb --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/demo.launch b/mecharm/mecharm_pi_moveit/launch/demo.launch new file mode 100644 index 0000000..3129331 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/demo_gazebo.launch b/mecharm/mecharm_pi_moveit/launch/demo_gazebo.launch new file mode 100644 index 0000000..02617e9 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/fake_moveit_controller_manager.launch.xml b/mecharm/mecharm_pi_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..2740845 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..4a14a70 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mecharm/mecharm_pi_moveit/launch/gazebo.launch b/mecharm/mecharm_pi_moveit/launch/gazebo.launch new file mode 100644 index 0000000..4c07e54 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/joystick_control.launch b/mecharm/mecharm_pi_moveit/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/mecharm_moveit.launch b/mecharm/mecharm_pi_moveit/launch/mecharm_moveit.launch new file mode 100644 index 0000000..3129331 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/mecharm_moveit.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/move_group.launch b/mecharm/mecharm_pi_moveit/launch/move_group.launch new file mode 100644 index 0000000..6f06458 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/moveit.rviz b/mecharm/mecharm_pi_moveit/launch/moveit.rviz new file mode 100644 index 0000000..a55bfb9 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/moveit.rviz @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.742560029 + Tree Height: 195 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +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 + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + 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 + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.0799999982 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: arm_group + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.200000003 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + 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 + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + 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 + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.39158678 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.113567002 + Y: 0.105920002 + Z: 2.23518001e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.164796591 + Target Frame: link1 + Value: XYOrbit (rviz) + Yaw: 5.75176573 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 898 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 92 + Y: 24 diff --git a/mecharm/mecharm_pi_moveit/launch/moveit_rviz.launch b/mecharm/mecharm_pi_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..5ebdfb4 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/ompl_planning_pipeline.launch.xml b/mecharm/mecharm_pi_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..6c497fd --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/planning_context.launch b/mecharm/mecharm_pi_moveit/launch/planning_context.launch new file mode 100644 index 0000000..4aca300 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/planning_pipeline.launch.xml b/mecharm/mecharm_pi_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..ba25b5b --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/ros_controllers.launch b/mecharm/mecharm_pi_moveit/launch/ros_controllers.launch new file mode 100644 index 0000000..3bb4041 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/run_benchmark_ompl.launch b/mecharm/mecharm_pi_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..af31834 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/sensor_manager.launch.xml b/mecharm/mecharm_pi_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..bbbc409 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/setup_assistant.launch b/mecharm/mecharm_pi_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..183a23c --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/trajectory_execution.launch.xml b/mecharm/mecharm_pi_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..42b6a96 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/warehouse.launch b/mecharm/mecharm_pi_moveit/launch/warehouse.launch new file mode 100644 index 0000000..541be6c --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/launch/warehouse_settings.launch.xml b/mecharm/mecharm_pi_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mecharm/mecharm_pi_moveit/package.xml b/mecharm/mecharm_pi_moveit/package.xml new file mode 100644 index 0000000..fa73a72 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/package.xml @@ -0,0 +1,40 @@ + + + mecharm_pi_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + zachary + zachary + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + + mycobot_description + + + diff --git a/mecharm/mecharm_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mecharm/mecharm_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py new file mode 100644 index 0000000..3584da0 --- /dev/null +++ b/mecharm/mecharm_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy, roslib, sys +import moveit_commander +from moveit_msgs.msg import RobotTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from geometry_msgs.msg import PoseStamped, Pose +from tf.transformations import euler_from_quaternion, quaternion_from_euler + + +class MoveItPlanningDemo: + def __init__(self): + # API to initialize move_group. 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # Initialize the ROS node,初始化ROS节点 + rospy.init_node("moveit_ik_demo") + + # Initialize the scene object to listen for changes in the external environment + # 初始化场景对象，用来监听外部环境的变化 + self.scene = moveit_commander.PlanningSceneInterface() + rospy.sleep(1) + + # Initialize self.arm group in the robotic arm that needs to be controlled by move group + # 初始化需要使用move group控制的机械臂中的self.arm group + self.arm = moveit_commander.MoveGroupCommander("arm_group") + + # Get the name of the terminal link. 获取终端link的名称 + self.end_effector_link = self.arm.get_end_effector_link() + + # Set the reference coordinate system used for the target position. + # 设置目标位置所使用的参考坐标系 + self.reference_frame = "joint1" + self.arm.set_pose_reference_frame(self.reference_frame) + + # Allow replanning when motion planning fails. + # 当运动规划失败后，允许重新规划 + self.arm.allow_replanning(True) + + # Set the allowable error of position (unit: meter) and attitude (unit: radian). + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm.set_goal_position_tolerance(0.01) + self.arm.set_goal_orientation_tolerance(0.05) + + def moving(self): + # Control the robotic arm to return to the initialization position first. 控制机械臂先回到初始化位置 + self.arm.set_named_target("init_pose") + self.arm.go() + rospy.sleep(2) + + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.132 + target_pose.pose.position.y = -0.150 + target_pose.pose.position.z = 0.075 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # Set the current state of the robot arm as the initial state of motion. 设置机器臂当前的状态作为运动初始状态 + self.arm.set_start_state_to_current_state() + + # Set the target pose of the terminal motion of the robotic arm. 设置机械臂终端运动的目标位姿 + self.arm.set_pose_target(target_pose, self.end_effector_link) + + traj = self.arm.plan() + + # Control the motion of the robotic arm according to the planned motion path. 按照规划的运动路径控制机械臂运动 + self.arm.execute(traj) + rospy.sleep(1) + + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端向右移动5cm 參数1是代表y， 0,1,2,3,4,5 代表xyzrpy + self.arm.shift_pose_target(1, 0.12, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + self.arm.shift_pose_target(1, 0.1, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + # Control the end of the robotic arm to rotate 90 degrees in reverse, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端反向旋转90度, 0,1,2,3,4,5 代表xyzrpy + # self.arm.shift_pose_target(3, -1.57, end_effector_link) + # self.arm.go() + # rospy.sleep(1) + + def run(self): + self.scene.remove_world_object("suit") + + self.moving() + + # Add the environment. 添加环境 + quat = quaternion_from_euler(3.1415, 0, -1.57) + + suit_post = PoseStamped() + suit_post.header.frame_id = self.reference_frame + suit_post.pose.position.x = 0.0 + suit_post.pose.position.y = 0.0 + suit_post.pose.position.z = -0.02 + suit_post.pose.orientation.x = quat[0] + suit_post.pose.orientation.y = quat[1] + suit_post.pose.orientation.z = quat[2] + suit_post.pose.orientation.w = quat[3] + + suit_path = ( + roslib.packages.get_pkg_dir("mycobot_description") + + "/urdf/mycobot/suit_env.dae" + ) + # need `pyassimp==3.3` + self.scene.add_mesh("suit", suit_post, suit_path) + rospy.sleep(2) + + # Run again if there is environmental impact. 有环境影响后再运行一次 + self.moving() + + # Close and exit moveit. 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == "__main__": + o = MoveItPlanningDemo() + o.run() diff --git a/mecharm/mecharm_pi_moveit/scripts/sync_plan.py b/mecharm/mecharm_pi_moveit/scripts/sync_plan.py new file mode 100644 index 0000000..de5017e --- /dev/null +++ b/mecharm/mecharm_pi_moveit/scripts/sync_plan.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python2 +import time +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot +# from pymycobot.mypalletizer import MyPalletizer + + +mc = None + + +def callback(data): + rospy.loginfo(rospy.get_caller_id() + "%s", data) + data_list = [] + for index, value in enumerate(data.position): + # if index != 2: + # value *= -1 + data_list.append(value) + # print("data_list:",data_list) + mc.send_radians(data_list, 80) + + +def listener(): + global mc + rospy.init_node("mypal_reciver", anonymous=True) + + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyCobot(port, baud) + + 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 + rospy.spin() + + +if __name__ == "__main__": + listener() From fd49be2f0f018a5a5ef4e0f6fb61e5bf2cad30c8 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Mon, 9 May 2022 14:17:03 +0800 Subject: [PATCH 23/50] fix UI window bug --- mecharm/mecharm_pi/scripts/simple_gui.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mecharm/mecharm_pi/scripts/simple_gui.py b/mecharm/mecharm_pi/scripts/simple_gui.py index 20e7c18..67784ec 100644 --- a/mecharm/mecharm_pi/scripts/simple_gui.py +++ b/mecharm/mecharm_pi/scripts/simple_gui.py @@ -33,7 +33,7 @@ class Window: # 计算 Tk 根窗口的 x 和 y 坐标 x = (self.ws / 2) - 190 y = (self.hs / 2) - 250 - self.win.geometry("430x370+{}+{}".format(x, y)) + self.win.geometry("430x400+{}+{}".format(x, y)) # layout,布局 self.set_layout() # input section,输入部分 From c807ba3b6a08bdedd7d6940d6c85b540e2879a51 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 11:13:53 +0800 Subject: [PATCH 24/50] change joint3_joint2 lower --- mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf index 7f35ec0..af7dba9 100644 --- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf +++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf @@ -141,7 +141,7 @@ - + From aedb834bf5b258ea8ed78a82f08fcb2ba87a7a09 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 11:49:45 +0800 Subject: [PATCH 25/50] change joint3_joint2 lower --- mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf index af7dba9..7db3976 100644 --- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf +++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf @@ -141,7 +141,7 @@ - + From 13597a2f4832cf75d24eabb68aeb53520e3b892e Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 10 May 2022 15:20:50 +0800 Subject: [PATCH 26/50] add mycobot600 moveit --- .../mycobot_600_moveit/.setup_assistant | 11 + mycobot_pro/mycobot_600_moveit/CMakeLists.txt | 22 ++ mycobot_pro/mycobot_600_moveit/LICENSE | 25 ++ .../config/chomp_planning.yaml | 18 ++ .../config/fake_controllers.yaml | 9 + .../config/firefighter.srdf | 43 +++ .../config/joint_limits.yaml | 34 +++ .../mycobot_600_moveit/config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 150 +++++++++++ .../config/ros_controllers.yaml | 26 ++ .../mycobot_600_moveit/config/sensors_3d.yaml | 10 + .../launch/chomp_planning_pipeline.launch.xml | 10 + .../launch/default_warehouse_db.launch | 15 ++ .../mycobot_600_moveit/launch/demo.launch | 66 +++++ .../launch/demo_gazebo.launch | 70 +++++ .../fake_moveit_controller_manager.launch.xml | 9 + ...ghter_moveit_controller_manager.launch.xml | 10 + ...refighter_moveit_sensor_manager.launch.xml | 3 + .../mycobot_600_moveit/launch/gazebo.launch | 23 ++ .../launch/joystick_control.launch | 17 ++ .../launch/move_group.launch | 77 ++++++ .../mycobot_600_moveit/launch/moveit.rviz | 252 ++++++++++++++++++ .../launch/moveit_rviz.launch | 16 ++ .../launch/mycobot600_moveit.launch | 65 +++++ .../launch/ompl_planning_pipeline.launch.xml | 22 ++ .../launch/planning_context.launch | 24 ++ .../launch/planning_pipeline.launch.xml | 10 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 22 ++ .../launch/sensor_manager.launch.xml | 17 ++ .../launch/setup_assistant.launch | 15 ++ .../launch/trajectory_execution.launch.xml | 20 ++ .../launch/warehouse.launch | 15 ++ .../launch/warehouse_settings.launch.xml | 16 ++ mycobot_pro/mycobot_600_moveit/package.xml | 40 +++ ...th_planning_and_obstacle_avoidance_demo.py | 137 ++++++++++ .../mycobot_600_moveit/scripts/sync_plan.py | 40 +++ 37 files changed, 1375 insertions(+) create mode 100644 mycobot_pro/mycobot_600_moveit/.setup_assistant create mode 100644 mycobot_pro/mycobot_600_moveit/CMakeLists.txt create mode 100644 mycobot_pro/mycobot_600_moveit/LICENSE create mode 100644 mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/firefighter.srdf create mode 100644 mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/kinematics.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/demo.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_controller_manager.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_sensor_manager.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/gazebo.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/joystick_control.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/move_group.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/moveit.rviz create mode 100644 mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/planning_context.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/launch/warehouse.launch create mode 100644 mycobot_pro/mycobot_600_moveit/launch/warehouse_settings.launch.xml create mode 100644 mycobot_pro/mycobot_600_moveit/package.xml create mode 100644 mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py create mode 100644 mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant new file mode 100644 index 0000000..c64dedc --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: mycobot_description + relative_path: urdf/mycobot/mycobot_urdf.urdf + xacro_args: "--inorder " + SRDF: + relative_path: config/firefighter.srdf + CONFIG: + author_name: zachary + author_email: lijun.zhang@elephantrobotics.com + generated_timestamp: 1626074107 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/CMakeLists.txt b/mycobot_pro/mycobot_600_moveit/CMakeLists.txt new file mode 100644 index 0000000..eb54d80 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mycobot_600_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + scripts/path_planning_and_obstacle_avoidance_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mycobot_pro/mycobot_600_moveit/LICENSE b/mycobot_pro/mycobot_600_moveit/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/LICENSE @@ -0,0 +1,25 @@ +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/mycobot_600_moveit/config/chomp_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml new file mode 100644 index 0000000..47a2eb3 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint6output_to_joint6 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf new file mode 100644 index 0000000..211e9ed --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..6e9612a --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint2_to_joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3_to_joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4_to_joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5_to_joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6_to_joint5: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6output_to_joint6: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..6c2d3f5 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: RRT + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml new file mode 100644 index 0000000..6b814df --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml @@ -0,0 +1,26 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint6output_to_joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml b/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..03d4520 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch b/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..3b82435 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo.launch new file mode 100644 index 0000000..5953d25 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/demo.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch new file mode 100644 index 0000000..31385d1 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..e572f2d --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..12e631d --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch new file mode 100644 index 0000000..dd6140b --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/joystick_control.launch b/mycobot_pro/mycobot_600_moveit/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/move_group.launch b/mycobot_pro/mycobot_600_moveit/launch/move_group.launch new file mode 100644 index 0000000..3457e11 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz new file mode 100644 index 0000000..ea0e4b3 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz @@ -0,0 +1,252 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.44475922 + Tree Height: 195 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +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 + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + 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 + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.0799999982 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: arm_group + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.200000003 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + 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 + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + 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 + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.39158678 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.113567002 + Y: 0.105920002 + Z: 2.23518001e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: -0.770203352 + Target Frame: joint1 + Value: XYOrbit (rviz) + Yaw: 3.0317657 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 898 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 92 + Y: 24 diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch b/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..c9ea170 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch new file mode 100644 index 0000000..a5395fc --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..47c5f82 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch new file mode 100644 index 0000000..5f58fd9 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..fe2cf4d --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch b/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch new file mode 100644 index 0000000..03de6bf --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..94e8fc3 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..d7c9ca8 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch b/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..040d4f6 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..2207f7c --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch b/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch new file mode 100644 index 0000000..827a551 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/warehouse_settings.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/package.xml b/mycobot_pro/mycobot_600_moveit/package.xml new file mode 100644 index 0000000..3467715 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/package.xml @@ -0,0 +1,40 @@ + + + mycobot_600_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + zachary + zachary + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + + mycobot_description + + + diff --git a/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py new file mode 100644 index 0000000..cd4024d --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy, roslib, sys +import moveit_commander +from moveit_msgs.msg import RobotTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from geometry_msgs.msg import PoseStamped, Pose +from tf.transformations import euler_from_quaternion, quaternion_from_euler + + +class MoveItPlanningDemo: + def __init__(self): + # API to initialize move_group,初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # Initialize the ROS node,初始化ROS节点 + rospy.init_node("moveit_ik_demo") + + # Initialize the scene object to monitor changes in the external environment + # 初始化场景对象，用来监听外部环境的变化 + self.scene = moveit_commander.PlanningSceneInterface() + rospy.sleep(1) + + # Initialize self.arm group in the robotic arm that needs to be controlled by move group + # 初始化需要使用move group控制的机械臂中的self.arm group + self.arm = moveit_commander.MoveGroupCommander("arm_group") + + # Get the name of the terminal link,获取终端link的名称 + self.end_effector_link = self.arm.get_end_effector_link() + + # Set the reference coordinate system used for the target position + # 设置目标位置所使用的参考坐标系 + self.reference_frame = "joint1" + self.arm.set_pose_reference_frame(self.reference_frame) + + # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 + self.arm.allow_replanning(True) + + # Set the allowable error of position (unit: meter) and attitude (unit: radian) + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm.set_goal_position_tolerance(0.01) + self.arm.set_goal_orientation_tolerance(0.05) + + def moving(self): + # # Control the robotic arm to return to the initialization position first + # 控制机械臂先回到初始化位置 + self.arm.set_named_target("init_pose") + self.arm.go() + rospy.sleep(2) + + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.132 + target_pose.pose.position.y = -0.150 + target_pose.pose.position.z = 0.075 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # Set the current state of the robot arm as the initial state of motion + # 设置机器臂当前的状态作为运动初始状态 + self.arm.set_start_state_to_current_state() + + # Set the target pose of the terminal motion of the robotic arm + # 设置机械臂终端运动的目标位姿 + self.arm.set_pose_target(target_pose, self.end_effector_link) + + # Plan the movement path,规划运动路径 + traj = self.arm.plan() + + # Control the motion of the robotic arm according to the planned motion path + # 按照规划的运动路径控制机械臂运动 + self.arm.execute(traj) + rospy.sleep(1) + + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy + self.arm.shift_pose_target(1, 0.12, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + self.arm.shift_pose_target(1, 0.1, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy + # 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy + # self.arm.shift_pose_target(3, -1.57, end_effector_link) + # self.arm.go() + # rospy.sleep(1) + + def run(self): + self.scene.remove_world_object("suit") + + # Run once without obstacles,没有障碍物运行一次 + self.moving() + + # Add environment,添加环境 + quat = quaternion_from_euler(3.1415, 0, -1.57) + + suit_post = PoseStamped() + suit_post.header.frame_id = self.reference_frame + suit_post.pose.position.x = 0.0 + suit_post.pose.position.y = 0.0 + suit_post.pose.position.z = -0.02 + suit_post.pose.orientation.x = quat[0] + suit_post.pose.orientation.y = quat[1] + suit_post.pose.orientation.z = quat[2] + suit_post.pose.orientation.w = quat[3] + + suit_path = ( + roslib.packages.get_pkg_dir("mycobot_description") + + "/urdf/mycobot/suit_env.dae" + ) + # need `pyassimp==3.3` + self.scene.add_mesh("suit", suit_post, suit_path) + rospy.sleep(2) + + # Run it again if there is an environmental impact,有环境影响后再运行一次 + self.moving() + + # close and exit moveit，关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == "__main__": + o = MoveItPlanningDemo() + o.run() diff --git a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py new file mode 100644 index 0000000..4021613 --- /dev/null +++ b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python2 +import time +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot + + +mc = None + + +def callback(data): + rospy.loginfo(rospy.get_caller_id() + "%s", data) + data_list = [] + for index, value in enumerate(data.position): + # if index != 2: + # value *= -1 + data_list.append(value) + + mc.send_radians(data_list, 80) + + +def listener(): + global mc + rospy.init_node("mycobot_reciver", anonymous=True) + + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 1000000) + print(port, baud) + mc = MyCobot(port, baud) + + 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 + rospy.spin() + + +if __name__ == "__main__": + listener() From 2a48f8ecb2088919f06fa6f5c8ec38d8a3c9287e Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 11 May 2022 10:19:22 +0800 Subject: [PATCH 27/50] fix mycobot_600_urdf --- .../urdf/600_urdf/mycobot_600_urdf.urdf | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf index 31d57dc..dcb6eb1 100755 --- a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf +++ b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf @@ -142,17 +142,17 @@ - - + + - + - - + + @@ -160,15 +160,15 @@ - + - + - + @@ -176,7 +176,7 @@ - + From eaaf7f78fa94d412beced7e387e09e60be5c6d62 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 11 May 2022 18:20:38 +0800 Subject: [PATCH 28/50] add mycobot600 moveit config --- .../mycobot_600_moveit/.setup_assistant | 8 +++---- .../config/firefighter.srdf | 14 +++++++++-- .../config/ros_controllers.yaml | 7 +++++- .../mycobot_600_moveit/launch/demo.launch | 9 ------- .../mycobot_600_moveit/launch/gazebo.launch | 2 +- .../mycobot_600_moveit/launch/moveit.rviz | 24 ++++++++----------- .../launch/mycobot600_moveit.launch | 3 +-- mycobot_pro/mycobot_600_moveit/package.xml | 5 ++-- 8 files changed, 36 insertions(+), 36 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant index c64dedc..308692b 100644 --- a/mycobot_pro/mycobot_600_moveit/.setup_assistant +++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant @@ -1,11 +1,11 @@ moveit_setup_assistant_config: URDF: package: mycobot_description - relative_path: urdf/mycobot/mycobot_urdf.urdf + relative_path: urdf/600_urdf/mycobot_600_urdf.urdf xacro_args: "--inorder " SRDF: relative_path: config/firefighter.srdf CONFIG: - author_name: zachary - author_email: lijun.zhang@elephantrobotics.com - generated_timestamp: 1626074107 \ No newline at end of file + author_name: wangweijian + author_email: weijian.wang@elephantrobotics.com + generated_timestamp: 1652250059 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf index 211e9ed..07152c0 100644 --- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf +++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf @@ -27,16 +27,26 @@ - - + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml index 6b814df..3f053a8 100644 --- a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml @@ -23,4 +23,9 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 controller_list: - [] \ No newline at end of file + [] + # - name: arm_controller + # action_ns: follow_joint_trajectory + # type: FollowJointTrajectory + # allowed_execution_duration_scaling: 1.2 + # allowed_goal_duration_margin: 0.5 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo.launch index 5953d25..987d8e9 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/demo.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/demo.launch @@ -1,14 +1,11 @@ - - - - @@ -31,18 +27,15 @@ - [move_group/fake_controller_joint_states] - - @@ -51,14 +44,12 @@ - - diff --git a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch index dd6140b..108fd57 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch @@ -2,7 +2,7 @@ - + diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz index ea0e4b3..b796923 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz @@ -5,13 +5,9 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Status1 + - /Grid1 - /MotionPlanning1 - - /MotionPlanning1/Scene Geometry1 - - /MotionPlanning1/Scene Robot1 - - /MotionPlanning1/Planning Request1 - - /MotionPlanning1/Planned Path1 - Splitter Ratio: 0.44475922 + Splitter Ratio: 0.742560029 Tree Height: 195 - Class: rviz/Help Name: Help @@ -111,7 +107,7 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Loop Animation: false + Loop Animation: true Robot Alpha: 0.5 Robot Color: 150; 50; 150 Show Robot Collision: false @@ -135,7 +131,7 @@ Visualization Manager: Joint Violation Color: 255; 0; 255 Planning Group: arm_group Query Goal State: true - Query Start State: true + Query Start State: false Show Workspace: false Start State Alpha: 1 Start State Color: 0; 255; 0 @@ -193,7 +189,7 @@ Visualization Manager: Value: true Robot Alpha: 0.5 Show Robot Collision: false - Show Robot Visual: false + Show Robot Visual: true Value: true Velocity_Scaling_Factor: 1 Enabled: true @@ -212,7 +208,7 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 1.39158678 + Distance: 2.99650002 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 @@ -227,10 +223,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: -0.770203352 - Target Frame: joint1 + Pitch: -0.340202928 + Target Frame: base Value: XYOrbit (rviz) - Yaw: 3.0317657 + Yaw: 3.98176312 Saved: ~ Window Geometry: Displays: @@ -244,7 +240,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1828 diff --git a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch index a5395fc..b0f1449 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch @@ -12,7 +12,6 @@ - + + + + diff --git a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml index 6c2d3f5..3f4d0c2 100644 --- a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml @@ -121,7 +121,7 @@ planner_configs: dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 max_failures: 5000 # maximum consecutive failure limit. default: 5000 arm_group: - default_planner_config: RRT + default_planner_config: None planner_configs: - SBL - EST diff --git a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml index 3f053a8..6b814df 100644 --- a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml @@ -23,9 +23,4 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 controller_list: - [] - # - name: arm_controller - # action_ns: follow_joint_trajectory - # type: FollowJointTrajectory - # allowed_execution_duration_scaling: 1.2 - # allowed_goal_duration_margin: 0.5 \ No newline at end of file + [] \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo.launch index 987d8e9..5953d25 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/demo.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/demo.launch @@ -1,11 +1,14 @@ + + + + @@ -27,15 +31,18 @@ + [move_group/fake_controller_joint_states] + + @@ -44,12 +51,14 @@ + + diff --git a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch index 108fd57..dd6140b 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch @@ -2,7 +2,7 @@ - + diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz index b796923..04b69cf 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz @@ -5,9 +5,13 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Grid1 + - /Status1 - /MotionPlanning1 - Splitter Ratio: 0.742560029 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.44475922 Tree Height: 195 - Class: rviz/Help Name: Help @@ -107,7 +111,7 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Loop Animation: true + Loop Animation: false Robot Alpha: 0.5 Robot Color: 150; 50; 150 Show Robot Collision: false @@ -131,7 +135,7 @@ Visualization Manager: Joint Violation Color: 255; 0; 255 Planning Group: arm_group Query Goal State: true - Query Start State: false + Query Start State: true Show Workspace: false Start State Alpha: 1 Start State Color: 0; 255; 0 @@ -189,7 +193,7 @@ Visualization Manager: Value: true Robot Alpha: 0.5 Show Robot Collision: false - Show Robot Visual: true + Show Robot Visual: false Value: true Velocity_Scaling_Factor: 1 Enabled: true @@ -208,7 +212,7 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 2.99650002 + Distance: 1.39158678 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 @@ -223,10 +227,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: -0.340202928 - Target Frame: base + Pitch: -0.040203426 + Target Frame: joint1 Value: XYOrbit (rviz) - Yaw: 3.98176312 + Yaw: 6.21176481 Saved: ~ Window Geometry: Displays: @@ -240,7 +244,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1828 diff --git a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch index b0f1449..a5395fc 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch +++ b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch @@ -12,6 +12,7 @@ From 801f90c606c37766b4866b443fc990d96f54c21f Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 12 May 2022 14:16:36 +0800 Subject: [PATCH 32/50] fix config --- mycobot_pro/mycobot_600_moveit/config/firefighter.srdf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf index a38b519..0bdb5ac 100644 --- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf +++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf @@ -20,9 +20,9 @@ - + - + From a9242701c5ec7e1f8cad68fc91cbf5f936705afb Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 12 May 2022 14:17:11 +0800 Subject: [PATCH 33/50] fix ip --- .../scripts/path_planning_and_obstacle_avoidance_demo.py | 0 mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) mode change 100644 => 100755 mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py mode change 100644 => 100755 mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py diff --git a/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py old mode 100644 new mode 100755 diff --git a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py old mode 100644 new mode 100755 index cb45202..f2a9161 --- a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py +++ b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py @@ -273,7 +273,7 @@ def listener(): global mc rospy.init_node("control_slider", anonymous=True) - ip = rospy.get_param("~ip", "192.168.1.159") + ip = rospy.get_param("~ip", "192.168.10.66") print (ip) mc = ElephantRobot(ip, 5001) # START CLIENT,启动客户端 From befabb84f08b8fcff62192a2a775676b5ddb266a Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 12 May 2022 15:56:58 +0800 Subject: [PATCH 34/50] change urdf --- .../urdf/600_urdf/mycobot_600_urdf.urdf | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf index dcb6eb1..12bbb95 100755 --- a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf +++ b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf @@ -142,16 +142,17 @@ - + - + + - + @@ -163,7 +164,8 @@ - + + From 6f32b251e7b38d6a8d72c036a0bceb8f609a03c6 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 12 May 2022 15:57:43 +0800 Subject: [PATCH 35/50] fix config --- mycobot_pro/mycobot_600_moveit/config/firefighter.srdf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf index 0bdb5ac..60a6e0e 100644 --- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf +++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf @@ -20,9 +20,9 @@ - + - + From 19d2ef89765ce8a846d5f7c5fcda801a3a88429f Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 13 May 2022 13:27:31 +0800 Subject: [PATCH 36/50] update moveit config --- .../mycobot_600_moveit/.setup_assistant | 2 +- .../mycobot_600_moveit/config/kinematics.yaml | 2 +- .../mycobot_600_moveit/launch/moveit.rviz | 18 ++++++++---------- 3 files changed, 10 insertions(+), 12 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant index 308692b..f5494c2 100644 --- a/mycobot_pro/mycobot_600_moveit/.setup_assistant +++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant @@ -8,4 +8,4 @@ moveit_setup_assistant_config: CONFIG: author_name: wangweijian author_email: weijian.wang@elephantrobotics.com - generated_timestamp: 1652250059 \ No newline at end of file + generated_timestamp: 1652406964 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml index 031b273..3c16bbc 100644 --- a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml @@ -2,4 +2,4 @@ arm_group: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 \ No newline at end of file + kinematics_solver_attempts: 3 diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz index 04b69cf..8158fc8 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz @@ -4,15 +4,13 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - /MotionPlanning1 - /MotionPlanning1/Scene Geometry1 - /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planned Path1 - Splitter Ratio: 0.44475922 - Tree Height: 195 + Splitter Ratio: 0.742560029 + Tree Height: 325 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -133,7 +131,7 @@ Visualization Manager: Goal State Color: 250; 128; 0 Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: arm_group + Planning Group: mycobot_arm Query Goal State: true Query Start State: true Show Workspace: false @@ -227,15 +225,15 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: -0.040203426 - Target Frame: joint1 + Pitch: 0.439796686 + Target Frame: base Value: XYOrbit (rviz) - Yaw: 6.21176481 + Yaw: 2.5317657 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 898 + Height: 1028 Help: collapsed: false Hide Left Dock: false @@ -244,7 +242,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1828 From aa1f7936d18ae63883e255a4f828566629c7aba5 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 17 May 2022 10:34:41 +0800 Subject: [PATCH 37/50] update 600urdf --- mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf index 12bbb95..7979c8f 100755 --- a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf +++ b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf @@ -144,6 +144,7 @@ + @@ -162,6 +163,7 @@ + From 31ddefec38ea1c054cd2afec20838948577c3f35 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 2 Jun 2022 09:23:13 +0800 Subject: [PATCH 38/50] fix moveit rviz fig --- .../mycobot_600_moveit/launch/moveit.rviz | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz index 8158fc8..4292ffe 100644 --- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz +++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz @@ -10,7 +10,7 @@ Panels: - /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planned Path1 Splitter Ratio: 0.742560029 - Tree Height: 325 + Tree Height: 195 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -129,9 +129,9 @@ Visualization Manager: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0 + Interactive Marker Size: 0.109999999 Joint Violation Color: 255; 0; 255 - Planning Group: mycobot_arm + Planning Group: arm_group Query Goal State: true Query Start State: true Show Workspace: false @@ -225,15 +225,15 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 0.439796686 + Pitch: 0.354796648 Target Frame: base Value: XYOrbit (rviz) - Yaw: 2.5317657 + Yaw: 2.02676558 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1028 + Height: 898 Help: collapsed: false Hide Left Dock: false @@ -242,9 +242,9 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false Width: 1828 - X: 92 - Y: 24 + X: 60 + Y: 15 From 545c8ec6a3a0148aeacf369b21fb080f75d03fdd Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Jun 2022 13:56:56 +0800 Subject: [PATCH 39/50] update mycobot_600_slider.launch --- .../mycobot_600/launch/mycobot_600_slider.launch | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch b/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch index f7b6782..dc8f3d7 100644 --- a/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch +++ b/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch @@ -4,10 +4,13 @@ - - - - - - + + + + + + + + + From 3623e0a3fcd13c21873492037b648bb2b50805d6 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Jun 2022 14:00:38 +0800 Subject: [PATCH 40/50] change slider_600.py --- mycobot_pro/mycobot_600/scripts/slider_600.py | 30 ++++++++++--------- 1 file changed, 16 insertions(+), 14 deletions(-) mode change 100644 => 100755 mycobot_pro/mycobot_600/scripts/slider_600.py diff --git a/mycobot_pro/mycobot_600/scripts/slider_600.py b/mycobot_pro/mycobot_600/scripts/slider_600.py old mode 100644 new mode 100755 index 097d118..cc76fa2 --- a/mycobot_pro/mycobot_600/scripts/slider_600.py +++ b/mycobot_pro/mycobot_600/scripts/slider_600.py @@ -1,5 +1,5 @@ -#!/usr/bin/python - +#!/usr/bin/env python2 +# -*- coding: utf-8 -*- from socket import * import math import sys @@ -248,6 +248,7 @@ old_list = [] def callback(data): """callback function,回调函数""" + satrt_time=time.time() global old_list # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) print ("position", data.position) @@ -262,33 +263,34 @@ def callback(data): 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) - + # if mc.check_running(): + # mc.task_stop() + # time.sleep(0.05) + mc.write_angles(data_list, 1999) + end_time=time.time() + print('loop_time:',end_time-satrt_time) def listener(): global mc rospy.init_node("control_slider", anonymous=True) - ip = rospy.get_param("~ip", "192.168.10.169") + ip = rospy.get_param("~ip", "192.168.10.159") 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() + # print ep.wait(5) + # print mc.get_angles() + # print mc.get_coords() + mc.set_speed(90) + # print mc.get_speed() rospy.Subscriber("joint_states", JointState, callback) - + end_time=time.time() # 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 ...") From 753fb1944d3ca4629ab23f76683aee9ae8b062f6 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Jun 2022 14:02:57 +0800 Subject: [PATCH 41/50] change joint_limits.yaml speed and change ompl_planning.yaml server --- .../config/joint_limits.yaml | 36 +++++++++---------- .../config/ompl_planning.yaml | 2 +- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml index 6e9612a..a99e764 100644 --- a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml @@ -3,32 +3,32 @@ # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: joint2_to_joint1: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 + max_acceleration: 30 joint3_to_joint2: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 + max_acceleration: 30 joint4_to_joint3: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 + max_acceleration: 30 joint5_to_joint4: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 + max_acceleration: 30 joint6_to_joint5: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 + max_acceleration: 30 joint6output_to_joint6: - has_velocity_limits: false - max_velocity: 0 + has_velocity_limits: true + max_velocity: 3.14 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 30 \ No newline at end of file diff --git a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml index 3f4d0c2..82f7d9d 100644 --- a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml +++ b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml @@ -121,7 +121,7 @@ planner_configs: dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 max_failures: 5000 # maximum consecutive failure limit. default: 5000 arm_group: - default_planner_config: None + default_planner_config: RRTConnect planner_configs: - SBL - EST From 4e8a1e4155610edf5af86939eec89ab0a0467682 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Jun 2022 14:04:43 +0800 Subject: [PATCH 42/50] change sync_plan.py --- .../mycobot_600_moveit/scripts/sync_plan.py | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py index f2a9161..6e21641 100755 --- a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py +++ b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py @@ -248,6 +248,7 @@ old_list = [] def callback(data): """callback function,回调函数""" + satrt_time=time.time() global old_list # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) print ("position", data.position) @@ -262,33 +263,33 @@ def callback(data): 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) + # if mc.check_running(): + # mc.task_stop() + # time.sleep(0.05) mc.write_angles(data_list, 1999) - + end_time=time.time() + print('loop_time:',end_time-satrt_time) def listener(): global mc rospy.init_node("control_slider", anonymous=True) - ip = rospy.get_param("~ip", "192.168.10.66") + ip = rospy.get_param("~ip", "192.168.10.159") print (ip) mc = ElephantRobot(ip, 5001) # START CLIENT,启动客户端 res = mc.start_client() if res != "": - print res + print ('start_client->',res) sys.exit(1) - print ep.wait(5) - print mc.get_angles() - print mc.get_coords() - mc.set_speed(30) - print mc.get_speed() + # print ep.wait(5) + # print mc.get_angles() + # print mc.get_coords() + mc.set_speed(90) + # 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 ...") @@ -296,4 +297,4 @@ def listener(): if __name__ == "__main__": - listener() \ No newline at end of file + listener() From 0902c9676c2324587fccf19333750f2a7e2b8835 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 15:13:41 +0800 Subject: [PATCH 43/50] update path_planning_and_obstracle_aavoidance_demo.py --- .../path_planning_and_obstacle_avoidance_demo.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py index cd4024d..f74581c 100755 --- a/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py +++ b/mycobot_pro/mycobot_600_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -32,7 +32,7 @@ class MoveItPlanningDemo: # Set the reference coordinate system used for the target position # 设置目标位置所使用的参考坐标系 - self.reference_frame = "joint1" + self.reference_frame = "base" self.arm.set_pose_reference_frame(self.reference_frame) # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 @@ -116,13 +116,13 @@ class MoveItPlanningDemo: suit_post.pose.orientation.z = quat[2] suit_post.pose.orientation.w = quat[3] - suit_path = ( - roslib.packages.get_pkg_dir("mycobot_description") - + "/urdf/mycobot/suit_env.dae" - ) - # need `pyassimp==3.3` - self.scene.add_mesh("suit", suit_post, suit_path) - rospy.sleep(2) + # suit_path = ( + # roslib.packages.get_pkg_dir("mycobot_description") + # + "/urdf/mycobot/suit_env.dae" + # ) + # # need `pyassimp==3.3` + # self.scene.add_mesh("suit", suit_post, suit_path) + # rospy.sleep(2) # Run it again if there is an environmental impact,有环境影响后再运行一次 self.moving() From 6598c87e494c08f7fd4da47fdb02fb126f0c1c42 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 16:06:43 +0800 Subject: [PATCH 44/50] add mycobot_280pi ROS --- mycobot_280/mycobot_280pi/CMakeLists.txt | 44 ++ mycobot_280/mycobot_280pi/LICENSE | 25 + mycobot_280/mycobot_280pi/config/mycobot.rviz | 203 ++++++++ .../config/mycobot_with_marker.rviz | 216 ++++++++ .../mycobot_280pi/launch/detect_marker.launch | 18 + .../launch/detect_marker_with_topic.launch | 30 ++ .../launch/mycobot_follow.launch | 13 + .../mycobot_280pi/launch/simple_gui.launch | 23 + .../launch/slider_control.launch | 24 + .../launch/teleop_keyboard.launch | 23 + mycobot_280/mycobot_280pi/launch/test.launch | 16 + mycobot_280/mycobot_280pi/package.xml | 47 ++ .../mycobot_280pi/scripts/detect_marker.py | 124 +++++ .../mycobot_280pi/scripts/follow_and_pump.py | 194 +++++++ .../mycobot_280pi/scripts/follow_display.py | 104 ++++ .../mycobot_280pi/scripts/following_marker.py | 65 +++ .../mycobot_280pi/scripts/listen_real.py | 66 +++ .../scripts/listen_real_of_topic.py | 64 +++ .../mycobot_280pi/scripts/simple_gui.py | 478 ++++++++++++++++++ .../mycobot_280pi/scripts/slider_control.py | 50 ++ .../mycobot_280pi/scripts/teleop_keyboard.py | 177 +++++++ .../mycobot_280pi/src/camera_display.cpp | 29 ++ .../mycobot_280pi/src/opencv_camera.cpp | 60 +++ 23 files changed, 2093 insertions(+) create mode 100644 mycobot_280/mycobot_280pi/CMakeLists.txt create mode 100644 mycobot_280/mycobot_280pi/LICENSE create mode 100644 mycobot_280/mycobot_280pi/config/mycobot.rviz create mode 100644 mycobot_280/mycobot_280pi/config/mycobot_with_marker.rviz create mode 100644 mycobot_280/mycobot_280pi/launch/detect_marker.launch create mode 100644 mycobot_280/mycobot_280pi/launch/detect_marker_with_topic.launch create mode 100644 mycobot_280/mycobot_280pi/launch/mycobot_follow.launch create mode 100644 mycobot_280/mycobot_280pi/launch/simple_gui.launch create mode 100644 mycobot_280/mycobot_280pi/launch/slider_control.launch create mode 100644 mycobot_280/mycobot_280pi/launch/teleop_keyboard.launch create mode 100644 mycobot_280/mycobot_280pi/launch/test.launch create mode 100644 mycobot_280/mycobot_280pi/package.xml create mode 100755 mycobot_280/mycobot_280pi/scripts/detect_marker.py create mode 100755 mycobot_280/mycobot_280pi/scripts/follow_and_pump.py create mode 100755 mycobot_280/mycobot_280pi/scripts/follow_display.py create mode 100755 mycobot_280/mycobot_280pi/scripts/following_marker.py create mode 100755 mycobot_280/mycobot_280pi/scripts/listen_real.py create mode 100755 mycobot_280/mycobot_280pi/scripts/listen_real_of_topic.py create mode 100755 mycobot_280/mycobot_280pi/scripts/simple_gui.py create mode 100755 mycobot_280/mycobot_280pi/scripts/slider_control.py create mode 100755 mycobot_280/mycobot_280pi/scripts/teleop_keyboard.py create mode 100644 mycobot_280/mycobot_280pi/src/camera_display.cpp create mode 100644 mycobot_280/mycobot_280pi/src/opencv_camera.cpp diff --git a/mycobot_280/mycobot_280pi/CMakeLists.txt b/mycobot_280/mycobot_280pi/CMakeLists.txt new file mode 100644 index 0000000..67af0dc --- /dev/null +++ b/mycobot_280/mycobot_280pi/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mycobot_280pi) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge +) + +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS std_msgs actionlib +) + +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/follow_display.py + scripts/slider_control.py + scripts/teleop_keyboard.py + scripts/listen_real.py + scripts/listen_real_of_topic.py + scripts/detect_marker.py + scripts/following_marker.py + scripts/follow_and_pump.py + scripts/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# find_package(OpenCV REQUIRED) +# add_executable(opencv_camera src/opencv_camera) +# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# add_executable(camera_display src/camera_display) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/mycobot_280/mycobot_280pi/LICENSE b/mycobot_280/mycobot_280pi/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mycobot_280/mycobot_280pi/LICENSE @@ -0,0 +1,25 @@ +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_280/mycobot_280pi/config/mycobot.rviz b/mycobot_280/mycobot_280pi/config/mycobot.rviz new file mode 100644 index 0000000..220b77f --- /dev/null +++ b/mycobot_280/mycobot_280pi/config/mycobot.rviz @@ -0,0 +1,203 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 642 + - 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 + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + 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 + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + 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: 1.20289087 + 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: 0.085398227 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.08857274 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 923 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1851 + X: 65 + Y: 24 diff --git a/mycobot_280/mycobot_280pi/config/mycobot_with_marker.rviz b/mycobot_280/mycobot_280pi/config/mycobot_with_marker.rviz new file mode 100644 index 0000000..8b0dc7f --- /dev/null +++ b/mycobot_280/mycobot_280pi/config/mycobot_with_marker.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + - /Marker1/Namespaces1 + 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 + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + 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 + basic_shapes: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + basic_shapes: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + basic_cube: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + 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: 2.11990476 + 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: 0.375398338 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.235389769 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mycobot_280/mycobot_280pi/launch/detect_marker.launch b/mycobot_280/mycobot_280pi/launch/detect_marker.launch new file mode 100644 index 0000000..7a28019 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/detect_marker.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/detect_marker_with_topic.launch b/mycobot_280/mycobot_280pi/launch/detect_marker_with_topic.launch new file mode 100644 index 0000000..eb17899 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/detect_marker_with_topic.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/mycobot_follow.launch b/mycobot_280/mycobot_280pi/launch/mycobot_follow.launch new file mode 100644 index 0000000..ee894de --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/mycobot_follow.launch @@ -0,0 +1,13 @@ + + + + + + + + + ["joint_states"] + + + + diff --git a/mycobot_280/mycobot_280pi/launch/simple_gui.launch b/mycobot_280/mycobot_280pi/launch/simple_gui.launch new file mode 100644 index 0000000..2fa9c65 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/simple_gui.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/slider_control.launch b/mycobot_280/mycobot_280pi/launch/slider_control.launch new file mode 100644 index 0000000..b41b061 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/slider_control.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/teleop_keyboard.launch b/mycobot_280/mycobot_280pi/launch/teleop_keyboard.launch new file mode 100644 index 0000000..ef68097 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/teleop_keyboard.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/test.launch b/mycobot_280/mycobot_280pi/launch/test.launch new file mode 100644 index 0000000..76ddd57 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/test.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/package.xml b/mycobot_280/mycobot_280pi/package.xml new file mode 100644 index 0000000..4fb8023 --- /dev/null +++ b/mycobot_280/mycobot_280pi/package.xml @@ -0,0 +1,47 @@ + + + mycobot_280pi + 0.3.0 + The mycobot 280pi package + + wangweijian + wangweijian + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + mycobot_communication + + mycobot_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + mycobot_communication + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/scripts/detect_marker.py b/mycobot_280/mycobot_280pi/scripts/detect_marker.py new file mode 100755 index 0000000..2d2e8ec --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/detect_marker.py @@ -0,0 +1,124 @@ +#!/usr/bin/env python +# encoding=utf-8 +import rospy +import cv2 as cv +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +from sensor_msgs.msg import Image +import tf +from tf.broadcaster import TransformBroadcaster +import tf_conversions +from mycobot_communication.srv import ( + GetCoords, + SetCoords, + GetAngles, + SetAngles, + GripperStatus, +) + + +class ImageConverter: + def __init__(self): + self.br = TransformBroadcaster() + self.bridge = CvBridge() + self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) + self.aruo_params = cv.aruco.DetectorParameters_create() + calibrationParams = cv.FileStorage( + "calibrationFileName.xml", cv.FILE_STORAGE_READ + ) + self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() + self.camera_matrix = None + # subscriber, listen wether has img come in. 订阅者，监听是否有img + self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) + + def callback(self, data): + """Callback function. + + Process image with OpenCV, detect Mark to get the pose. Then acccording the + pose to transforming. + """ + try: + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + size = cv_image.shape + focal_length = size[1] + center = [size[1] / 2, size[0] / 2] + if self.camera_matrix is None: + # calc the camera matrix, if don't have.如果没有，则计算相机矩阵 + self.camera_matrix = np.array( + [ + [focal_length, 0, center[0]], + [0, focal_length, center[1]], + [0, 0, 1], + ], + dtype=np.float32, + ) + gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) + # detect aruco marker.检测 aruco 标记 + ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) + corners, ids = ret[0], ret[1] + # process marker data.处理标记数据 + if len(corners) > 0: + if ids is not None: + # print('corners:', corners, 'ids:', ids) + + # detect marker pose. 检测marker位姿。 + # argument: + # marker corners,标记角 + # marker size (meter),标记尺寸（米） + ret = cv.aruco.estimatePoseSingleMarkers( + corners, 0.05, self.camera_matrix, self.dist_coeffs + ) + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + + print("rvec:", rvec, "tvec:", tvec) + + # just select first one detected marker.只需选择第一个检测到的标记。 + for i in range(rvec.shape[0]): + cv.aruco.drawDetectedMarkers(cv_image, corners) + cv.aruco.drawAxis( + cv_image, + self.camera_matrix, + self.dist_coeffs, + rvec[i, :, :], + tvec[i, :, :], + 0.03, + ) + + xyz = tvec[0, 0, :] + xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] + + # get quaternion for ros. 为ros获取四元数 + euler = rvec[0, 0, :] + tf_change = tf.transformations.quaternion_from_euler( + euler[0], euler[1], euler[2] + ) + print("tf_change:", tf_change) + + # trans pose according [joint1]，根据 [joint1] 变换姿势 + self.br.sendTransform( + xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" + ) + + # [x, y, z, -172, 3, -46.8] + cv.imshow("Image", cv_image) + + cv.waitKey(3) + try: + pass + except CvBridgeError as e: + print(e) + + +if __name__ == "__main__": + try: + rospy.init_node("detect_marker") + rospy.loginfo("Starting cv_bridge_test node") + ImageConverter() + rospy.spin() + except KeyboardInterrupt: + print("Shutting down cv_bridge_test node.") + cv.destroyAllWindows() diff --git a/mycobot_280/mycobot_280pi/scripts/follow_and_pump.py b/mycobot_280/mycobot_280pi/scripts/follow_and_pump.py new file mode 100755 index 0000000..73c4f3b --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/follow_and_pump.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# Type of message communicated with mycobot，与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# Control the topic of mycobot, followed by angle, coordinates, gripper +# 控制 mycobot 的 topic，依次是角度、坐标、夹爪 +angle_pub = rospy.Publisher("mycobot/angles_goal", + MycobotSetAngles, queue_size=5) +coord_pub = rospy.Publisher("mycobot/coords_goal", + MycobotSetCoords, queue_size=5) +# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio +robot = os.popen("ls /dev/ttyAMA*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# instantiate the message object，实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# With this variable limit, the fetching behavior is only done once +# 通过该变量限制，抓取行为只做一次 +flag = False + +# In order to compare whether the QR code moves later,为了后面比较二维码是否移动 +temp_x = temp_y = temp_z = 0.0 + +temp_time = time.time() + + +def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): + """Post coordinates,发布坐标""" + coords.x = x + coords.y = y + coords.z = z + coords.rx = rx + coords.ry = ry + coords.rz = rz + coords.speed = 70 + coords.model = m + # print(coords) + coord_pub.publish(coords) + + +def pub_angles(a, b, c, d, e, f, sp): + """Publishing angle,发布角度""" + angles.joint_1 = float(a) + angles.joint_2 = float(b) + angles.joint_3 = float(c) + angles.joint_4 = float(d) + angles.joint_5 = float(e) + angles.joint_6 = float(f) + angles.speed = sp + angle_pub.publish(angles) + + +def pub_pump(flag, Pin): + """Publish gripper status,发布夹爪状态""" + pump.Status = flag + pump.Pin1 = Pin[0] + pump.Pin2 = Pin[1] + pump_pub.publish(pump) + + +def target_is_moving(x, y, z): + """Determine whether the target moves""" + """判断目标是否移动""" + count = 0 + for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): + print(o, n) + if abs(o - n) < 2: + count += 1 + print(count) + if count == 3: + return False + return True + + +def grippercallback(data): + """callback function,回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # Parse out the coordinate value,解析出坐标值 + # pump length: 88mm + x = float(format(data.pose.position.x * 1000, ".2f")) + y = float(format(data.pose.position.y * 1000, ".2f")) + z = float(format(data.pose.position.z * 1000, ".2f")) + + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior + # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 + if ( + time.time() - temp_time < 30 + or (temp_x == temp_y == temp_z == 0.0) + or target_is_moving(x - x_offset, y - y_offset, z) + ): + + x -= x_offset + y -= y_offset + pub_coords(x - 20, y, 280) + time.sleep(0.1) + + temp_x, temp_y, temp_z = x, y, z + return + else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取 + + print(x, y, z) + + # detect heigth + pump height + limit height + offset + x += x_offset + y += y_offset + z = z + 88 + z_offset + + pub_coords(x, y, z) + time.sleep(2.5) + + # down + for i in range(1, 17): + pub_coords(x, y, z - i * 5, rx=-160, sp=10) + time.sleep(0.1) + + time.sleep(2) + + pub_pump(True, Pin) + # pump on + + pub_coords(x, y, z + 20, -165) + time.sleep(1.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + put_z = 140 + pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2) + time.sleep(1.5) + + for i in range(1, 8): + pub_coords(39.4, -174.7, put_z - i * 5, - + 177.13, -4.13, -152.59, 15, 2) + time.sleep(0.1) + + pub_pump(False, Pin) + + time.sleep(0.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + # finally + flag = True + + +def main(): + for _ in range(10): + # pub_coords(150, 20, 220, -175, 0, -90, 70, 2) + pub_angles(0, 30, -50, -40, 0, 0, 50) + # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70) + time.sleep(0.5) + + pub_pump(False, Pin) + # time.sleep(2.5) + + # mark 信息的订阅者,subscribers to mark information + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/mycobot_280/mycobot_280pi/scripts/follow_display.py b/mycobot_280/mycobot_280pi/scripts/follow_display.py new file mode 100755 index 0000000..fa4bb50 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/follow_display.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python2 +# encoding=utf-8 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker + +from pymycobot.mycobot import MyCobot + + +def talker(): + rospy.init_node("display", anonymous=True) + + print("Try connect real mycobot...") + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + print("port: {}, baud: {}\n".format(port, baud)) + try: + mycobot = MyCobot(port, baud) + except Exception as e: + print(e) + print( + """\ + \rTry connect mycobot failed! + \rPlease check wether connected with mycobot. + \rPlease chckt wether the port or baud is right. + """ + ) + exit(1) + mycobot.release_all_servos() + time.sleep(0.1) + print("Rlease all servos over.\n") + + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "my_namespace" + + print("publishing ...") + while not rospy.is_shutdown(): + joint_state_send.header.stamp = rospy.Time.now() + + angles = mycobot.get_radians() + data_list = [] + for index, value in enumerate(angles): + data_list.append(value) + + # rospy.loginfo('{}'.format(data_list)) + joint_state_send.position = data_list + + pub.publish(joint_state_send) + + coords = mycobot.get_coords() + + # marker + marker_.header.stamp = rospy.Time.now() + marker_.type = marker_.SPHERE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial.标记位置初始 + # print(coords) + if not coords: + coords = [0, 0, 0, 0, 0, 0] + rospy.loginfo("error [101]: can not get coord values") + + marker_.pose.position.x = coords[1] / 1000 * -1 + marker_.pose.position.y = coords[0] / 1000 + marker_.pose.position.z = coords[2] / 1000 + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mycobot_280/mycobot_280pi/scripts/following_marker.py b/mycobot_280/mycobot_280pi/scripts/following_marker.py new file mode 100755 index 0000000..ae1c624 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/following_marker.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python2 +# encoding=utf-8 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +import tf + + +def talker(): + rospy.init_node("following_marker", anonymous=True) + + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(20) + + listener = tf.TransformListener() + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "basic_cube" + + print("publishing ...") + while not rospy.is_shutdown(): + now = rospy.Time.now() - rospy.Duration(0.1) + + try: + trans, rot = listener.lookupTransform("joint1", "basic_shapes", now) + except Exception as e: + print(e) + continue + + print(type(trans), trans) + print(type(rot), rot) + + # marker + marker_.header.stamp = now + marker_.type = marker_.CUBE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial,标记位置初始化 + marker_.pose.position.x = trans[0] + marker_.pose.position.y = trans[1] + marker_.pose.position.z = trans[2] + marker_.pose.orientation.x = rot[0] + marker_.pose.orientation.y = rot[1] + marker_.pose.orientation.z = rot[2] + marker_.pose.orientation.w = rot[3] + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mycobot_280/mycobot_280pi/scripts/listen_real.py b/mycobot_280/mycobot_280pi/scripts/listen_real.py new file mode 100755 index 0000000..77ad403 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/listen_real.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python2 +# encoding=utf-8 +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.srv import GetAngles + + +def talker(): + rospy.loginfo("start ...") + rospy.init_node("real_listener", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state，发布关节状态 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用 + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server.从服务器获得真实的角度。 + res = func() + if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: + continue + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + res.joint_4 * (math.pi / 180), + res.joint_5 * (math.pi / 180), + res.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + # publish angles.发布角度 + joint_state_send.header.stamp = rospy.Time.now() + joint_state_send.position = radians_list + pub.publish(joint_state_send) + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/mycobot_280/mycobot_280pi/scripts/listen_real_of_topic.py b/mycobot_280/mycobot_280pi/scripts/listen_real_of_topic.py new file mode 100755 index 0000000..631d0a2 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/listen_real_of_topic.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +# encoding=utf-8 +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.msg import MycobotAngles + + +class Listener(object): + def __init__(self): + super(Listener, self).__init__() + + rospy.loginfo("start ...") + rospy.init_node("real_listener_1", anonymous=True) + # 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("mycobot/angles_real", MycobotAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`mycobot/angles_real` subscriber callback method. + + Args: + data (MycobotAngles): callback argument. + """ + # ini publisher object. 初始化发布者对象 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + joint_state_send.header.stamp = rospy.Time.now() + + # process callback data. 处理回调数据。 + radians_list = [ + data.joint_1 * (math.pi / 180), + data.joint_2 * (math.pi / 180), + data.joint_3 * (math.pi / 180), + data.joint_4 * (math.pi / 180), + data.joint_5 * (math.pi / 180), + data.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + joint_state_send.position = radians_list + self.pub.publish(joint_state_send) + + +if __name__ == "__main__": + try: + Listener() + except rospy.ROSInterruptException: + pass diff --git a/mycobot_280/mycobot_280pi/scripts/simple_gui.py b/mycobot_280/mycobot_280pi/scripts/simple_gui.py new file mode 100755 index 0000000..9f4c791 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/simple_gui.py @@ -0,0 +1,478 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +import Tkinter as tk +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import time +from rospy import ServiceException + + +class Window: + def __init__(self, handle): + self.win = handle + self.win.resizable(0, 0) # fixed window size，固定窗口大小 + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # set default speed，设置默认速度 + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # Get the data of the robotic arm，获取机械臂数据 + self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.get_date() + + # get screen width and height.获取屏幕宽度和高度 + self.ws = self.win.winfo_screenwidth() # width of the screen + self.hs = self.win.winfo_screenheight() # height of the screen + # calculate x and y coordinates for the Tk root window + # 计算 Tk 根窗口的 x 和 y 坐标 + x = (self.ws / 2) - 190 + y = (self.hs / 2) - 250 + self.win.geometry("430x370+{}+{}".format(x, y)) + # layout,布局 + self.set_layout() + # input section,输入部分 + self.need_input() + # Show part,展示部分 + self.show_init() + + # Set the joint buttons 设置joint按钮 + tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # coordination settings button,coordination 设置按钮 + tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # Gripper switch button,夹爪开关按钮 + tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( + row=1, column=0, sticky="w", padx=3, pady=50 + ) + tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid( + row=1, column=1, sticky="w", padx=3, pady=2 + ) + + def connect_ser(self): + rospy.init_node("simple_gui", anonymous=True, disable_signals=True) + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + try: + self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + self.switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus + ) + except: + print("start error ...") + exit(1) + + print("Connect service success.") + + def set_layout(self): + self.frmLT = tk.Frame(width=200, height=200) + self.frmLC = tk.Frame(width=200, height=200) + self.frmLB = tk.Frame(width=200, height=200) + self.frmRT = tk.Frame(width=200, height=200) + self.frmLT.grid(row=0, column=0, padx=1, pady=3) + self.frmLC.grid(row=1, column=0, padx=1, pady=3) + self.frmLB.grid(row=1, column=1, padx=2, pady=3) + self.frmRT.grid(row=0, column=1, padx=2, pady=3) + + def need_input(self): + # input hint,输入提示 + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 + tk.Label(self.frmRT, text=" z ").grid(row=2) + tk.Label(self.frmRT, text=" rx ").grid(row=3) + tk.Label(self.frmRT, text=" ry ").grid(row=4) + tk.Label(self.frmRT, text=" rz ").grid(row=5) + + # Set the default value of the input box,设置输入框的默认值 + self.j1_default = tk.StringVar() + self.j1_default.set(self.res_angles[0]) + self.j2_default = tk.StringVar() + self.j2_default.set(self.res_angles[1]) + self.j3_default = tk.StringVar() + self.j3_default.set(self.res_angles[2]) + self.j4_default = tk.StringVar() + self.j4_default.set(self.res_angles[3]) + self.j5_default = tk.StringVar() + self.j5_default.set(self.res_angles[4]) + self.j6_default = tk.StringVar() + self.j6_default.set(self.res_angles[5]) + + self.x_default = tk.StringVar() + self.x_default.set(self.record_coords[0]) + self.y_default = tk.StringVar() + self.y_default.set(self.record_coords[1]) + self.z_default = tk.StringVar() + self.z_default.set(self.record_coords[2]) + self.rx_default = tk.StringVar() + self.rx_default.set(self.record_coords[3]) + self.ry_default = tk.StringVar() + self.ry_default.set(self.record_coords[4]) + self.rz_default = tk.StringVar() + self.rz_default.set(self.record_coords[5]) + + # joint input box,joint 输入框 + self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) + self.J_1.grid(row=0, column=1, pady=3) + self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) + self.J_2.grid(row=1, column=1, pady=3) + self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) + self.J_3.grid(row=2, column=1, pady=3) + self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) + self.J_4.grid(row=3, column=1, pady=3) + self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default) + self.J_5.grid(row=4, column=1, pady=3) + self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) + self.J_6.grid(row=5, column=1, pady=3) + + # coord input box,coord 输入框 + self.x = tk.Entry(self.frmRT, textvariable=self.x_default) + self.x.grid(row=0, column=1, pady=3, padx=0) + self.y = tk.Entry(self.frmRT, textvariable=self.y_default) + self.y.grid(row=1, column=1, pady=3) + self.z = tk.Entry(self.frmRT, textvariable=self.z_default) + self.z.grid(row=2, column=1, pady=3) + self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) + self.rx.grid(row=3, column=1, pady=3) + self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default) + self.ry.grid(row=4, column=1, pady=3) + self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) + self.rz.grid(row=5, column=1, pady=3) + + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 + self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6] + self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] + + # speed input box,速度输入框 + tk.Label( + self.frmLB, + text="speed", + ).grid(row=0, column=0) + self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10) + self.get_speed.grid(row=0, column=1) + + def show_init(self): + # show,显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLC, text="Joint 6 ").grid(row=5) + + # get数据 + + # show,展示出来 + self.cont_1 = tk.StringVar(self.frmLC) + self.cont_1.set(str(self.res_angles[0]) + "°") + self.cont_2 = tk.StringVar(self.frmLC) + self.cont_2.set(str(self.res_angles[1]) + "°") + self.cont_3 = tk.StringVar(self.frmLC) + self.cont_3.set(str(self.res_angles[2]) + "°") + self.cont_4 = tk.StringVar(self.frmLC) + self.cont_4.set(str(self.res_angles[3]) + "°") + self.cont_5 = tk.StringVar(self.frmLC) + self.cont_5.set(str(self.res_angles[4]) + "°") + self.cont_6 = tk.StringVar(self.frmLC) + self.cont_6.set(str(self.res_angles[5]) + "°") + self.cont_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.cont_4, + self.cont_5, + self.cont_6, + self.speed, + self.model, + ] + + self.show_j1 = tk.Label( + self.frmLC, + textvariable=self.cont_1, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=1, padx=0, pady=5) + + self.show_j2 = tk.Label( + self.frmLC, + textvariable=self.cont_2, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=1, padx=0, pady=5) + self.show_j3 = tk.Label( + self.frmLC, + textvariable=self.cont_3, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=1, padx=0, pady=5) + self.show_j4 = tk.Label( + self.frmLC, + textvariable=self.cont_4, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=1, padx=0, pady=5) + self.show_j5 = tk.Label( + self.frmLC, + textvariable=self.cont_5, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=1, padx=0, pady=5) + self.show_j6 = tk.Label( + self.frmLC, + textvariable=self.cont_6, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=1, padx=5, pady=5) + + self.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + self.show_j4, + self.show_j5, + self.show_j6, + ] + + # show,显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) + tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) + tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) + tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) + tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3) + self.coord_x = tk.StringVar() + self.coord_x.set(str(self.record_coords[0])) + self.coord_y = tk.StringVar() + self.coord_y.set(str(self.record_coords[1])) + self.coord_z = tk.StringVar() + self.coord_z.set(str(self.record_coords[2])) + self.coord_rx = tk.StringVar() + self.coord_rx.set(str(self.record_coords[3])) + self.coord_ry = tk.StringVar() + self.coord_ry.set(str(self.record_coords[4])) + self.coord_rz = tk.StringVar() + self.coord_rz.set(str(self.record_coords[5])) + + self.coord_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.coord_rx, + self.coord_ry, + self.coord_rz, + self.speed, + self.model, + ] + + self.show_x = tk.Label( + self.frmLC, + textvariable=self.coord_x, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=4, padx=5, pady=5) + self.show_y = tk.Label( + self.frmLC, + textvariable=self.coord_y, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=4, padx=5, pady=5) + self.show_z = tk.Label( + self.frmLC, + textvariable=self.coord_z, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=4, padx=5, pady=5) + self.show_rx = tk.Label( + self.frmLC, + textvariable=self.coord_rx, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=4, padx=5, pady=5) + self.show_ry = tk.Label( + self.frmLC, + textvariable=self.coord_ry, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=4, padx=5, pady=5) + self.show_rz = tk.Label( + self.frmLC, + textvariable=self.coord_rz, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=4, padx=5, pady=5) + + # mm， Unit show，单位展示 + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(6): + tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( + row=i, column=5 + ) + + def gripper_open(self): + try: + self.switch_gripper(True) + except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error + # 可能由于该方法没有返回值，服务抛出无法处理的错误 + pass + + def gripper_close(self): + try: + self.switch_gripper(False) + except ServiceException: + pass + + def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm + # 获取 coord 输入的数据，发送给机械臂 + c_value = [] + for i in self.all_c: + # print(type(i.get())) + c_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + c_value.append(self.speed) + c_value.append(self.model) + # print(c_value) + try: + self.set_coords(*c_value) + except ServiceException: + pass + self.show_j_date(c_value[:-2], "coord") + + def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm + # 获取joint输入的数据，发送给机械臂 + j_value = [] + for i in self.all_j: + # print(type(i.get())) + j_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + j_value.append(self.speed) + + try: + self.set_angles(*j_value) + except ServiceException: + pass + self.show_j_date(j_value[:-1]) + # return j_value,c_value,speed + + def get_date(self): + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 + t = time.time() + while time.time() - t < 2: + self.res = self.get_coords() + if self.res.x > 1: + break + time.sleep(0.1) + + t = time.time() + while time.time() - t < 2: + self.angles = self.get_angles() + if self.angles.joint_1 > 1: + break + time.sleep(0.1) + # print(self.angles.joint_1) + self.record_coords = [ + round(self.res.x, 2), + round(self.res.y, 2), + round(self.res.z, 2), + round(self.res.rx, 2), + round(self.res.ry, 2), + round(self.res.rz, 2), + self.speed, + self.model, + ] + self.res_angles = [ + round(self.angles.joint_1, 2), + round(self.angles.joint_2, 2), + round(self.angles.joint_3, 2), + round(self.angles.joint_4, 2), + round(self.angles.joint_5, 2), + round(self.angles.joint_6, 2), + ] + # print('coord:',self.record_coords) + # print('angles:',self.res_angles) + + # def send_input(self,dates): + def show_j_date(self, date, way=""): + # Show data,展示数据 + if way == "coord": + for i, j in zip(date, self.coord_all): + # print(i) + j.set(str(i)) + else: + for i, j in zip(date, self.cont_all): + j.set(str(i) + "°") + + def run(self): + while True: + try: + self.win.update() + time.sleep(0.001) + except tk.TclError as e: + if "application has been destroyed" in str(e): + break + else: + raise + + +def main(): + window = tk.Tk() + window.title("mycobot ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() diff --git a/mycobot_280/mycobot_280pi/scripts/slider_control.py b/mycobot_280/mycobot_280pi/scripts/slider_control.py new file mode 100755 index 0000000..9f9f6b7 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/slider_control.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python2 +# encoding=utf-8 + +"""[summary] +This file obtains the joint angle of the manipulator in ROS, +and then sends it directly to the real manipulator using `pymycobot` API. +This file is [slider_control.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyAMA0' + baud: serial prot baudrate. Defaults is 1000000. +""" + +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(value) + + mc.send_radians(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + print(port, baud) + mc = MyCobot(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 + print("spin ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mycobot_280/mycobot_280pi/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280pi/scripts/teleop_keyboard.py new file mode 100755 index 0000000..e5ee716 --- /dev/null +++ b/mycobot_280/mycobot_280pi/scripts/teleop_keyboard.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python +# encoding=utf-8 +from __future__ import print_function +from mycobot_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 = """\ +Mycobot Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z,rx,ry,rz]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + +u(rx+) i(ry+) o(rz+) +j(rx-) k(ry-) l(rz-) + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 50) + change_percent = rospy.get_param("~change_percent", 5) + + change_angle = 180 * change_percent / 100 + change_len = 250 * change_percent / 100 + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + print("service ready.") + try: + get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus) + except: + print("start error ...") + exit(1) + + init_pose = [0, 0, 0, 0, 0, 0, speed] + home_pose = [0, 8, -127, 40, 0, 0, speed] + + # rsp = set_angles(*init_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(record_coords) + + try: + print(msg) + print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 + while 1: + try: + # print("\r current coords: %s" % record_coords, end="") + with Raw(sys.stdin): + key = sys.stdin.read(1) + if key == "q": + break + elif key in ["w", "W"]: + record_coords[0] += change_len + set_coords(*record_coords) + elif key in ["s", "S"]: + record_coords[0] -= change_len + set_coords(*record_coords) + elif key in ["a", "A"]: + record_coords[1] -= change_len + set_coords(*record_coords) + elif key in ["d", "D"]: + record_coords[1] += change_len + set_coords(*record_coords) + elif key in ["z", "Z"]: + record_coords[2] -= change_len + set_coords(*record_coords) + elif key in ["x", "X"]: + record_coords[2] += change_len + set_coords(*record_coords) + elif key in ["u", "U"]: + record_coords[3] += change_angle + set_coords(*record_coords) + elif key in ["j", "J"]: + record_coords[3] -= change_angle + set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[4] += change_angle + set_coords(*record_coords) + elif key in ["k", "K"]: + record_coords[4] -= change_angle + set_coords(*record_coords) + elif key in ["o", "O"]: + record_coords[5] += change_angle + set_coords(*record_coords) + elif key in ["l", "L"]: + record_coords[5] -= change_angle + set_coords(*record_coords) + elif key in ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] + elif key in "2": + rsp = set_angles(*home_pose) + record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] + elif key in "3": + rep = get_angles() + home_pose[0] = rep.joint_1 + home_pose[1] = rep.joint_2 + home_pose[2] = rep.joint_3 + home_pose[3] = rep.joint_4 + home_pose[5] = rep.joint_5 + else: + continue + + except Exception as e: + # print(e) + continue + + except Exception as e: + print(e) + + +if __name__ == "__main__": + try: + teleop_keyboard() + except rospy.ROSInterruptException: + pass diff --git a/mycobot_280/mycobot_280pi/src/camera_display.cpp b/mycobot_280/mycobot_280pi/src/camera_display.cpp new file mode 100644 index 0000000..1f3abeb --- /dev/null +++ b/mycobot_280/mycobot_280pi/src/camera_display.cpp @@ -0,0 +1,29 @@ +#include +#include +#include +#include + +void imageCallback(const sensor_msgs::ImageConstPtr &msg) +{ + try + { + cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image); + cv::waitKey(30); + } + catch (cv_bridge::Exception &e) + { + ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str()); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "image_listener"); + ros::NodeHandle nh; + cv::namedWindow("view"); + cv::startWindowThread(); + image_transport::ImageTransport it(nh); + image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback); + ros::spin(); + cv::destroyWindow("view"); +} diff --git a/mycobot_280/mycobot_280pi/src/opencv_camera.cpp b/mycobot_280/mycobot_280pi/src/opencv_camera.cpp new file mode 100644 index 0000000..6501814 --- /dev/null +++ b/mycobot_280/mycobot_280pi/src/opencv_camera.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include // for converting the command line parameter to integer,用于将命令行参数转换为整数 + +int main(int argc, char **argv) +{ + // Check if video source has been passed as a parameter,检查视频源是否已作为参数传递 + if (argv[1] == NULL) + { + ROS_INFO("argv[1]=NULL\n"); + return 1; + } + + ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点 + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题 + + ros::Rate loop_rate(200); // refresh Hz. + + // Convert the passed as command line parameter index for the video device to an integer， + // 将作为命令行参数传递的视频设备索引转换为整数 + std::istringstream video_sourceCmd(argv[1]); + int video_source; + // Check if it is indeed a number，检查它是否确实是一个数字 + if (!(video_sourceCmd >> video_source)) + { + ROS_INFO("video_sourceCmd is %d\n", video_source); + return 1; + } + + cv::VideoCapture cap(video_source); + // Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备 + if (!cap.isOpened()) + { + ROS_INFO("can not opencv video device\n"); + return 1; + } + cv::Mat frame; + sensor_msgs::ImagePtr msg; + + while (nh.ok()) + { + cap >> frame; + // cv::imshow("veiwer", frame); + // Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容 + if (!frame.empty()) + { + msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); + pub.publish(msg); + //cv::Wait(1); + } + ros::spinOnce(); + loop_rate.sleep(); + // if(cv::waitKey(2) >= 0) + // break; + } +} From e7d25840bc6578510a519c3dc0250f08b09038eb Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 16:07:55 +0800 Subject: [PATCH 45/50] update mycobot_280pi urdf --- .../urdf/mycobot_pi/mycobot_with_vision.urdf | 199 ++++++++++++++++++ .../urdf/mycobot_pi/suit_env.dae | 66 ++++++ 2 files changed, 265 insertions(+) create mode 100755 mycobot_description/urdf/mycobot_pi/mycobot_with_vision.urdf create mode 100644 mycobot_description/urdf/mycobot_pi/suit_env.dae diff --git a/mycobot_description/urdf/mycobot_pi/mycobot_with_vision.urdf b/mycobot_description/urdf/mycobot_pi/mycobot_with_vision.urdf new file mode 100755 index 0000000..e1ba7ac --- /dev/null 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+ + + + + + + + + + + + + + + From f5dc21db9fbb01cee51747c5741350d3a06bb70e Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 16:08:57 +0800 Subject: [PATCH 46/50] change port of 280pi --- mycobot_communication/scripts/mycobot_topics_jsnn.py | 4 ++-- mycobot_communication/scripts/mycobot_topics_pi.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/mycobot_communication/scripts/mycobot_topics_jsnn.py b/mycobot_communication/scripts/mycobot_topics_jsnn.py index 07304f8..62b09a8 100755 --- a/mycobot_communication/scripts/mycobot_topics_jsnn.py +++ b/mycobot_communication/scripts/mycobot_topics_jsnn.py @@ -75,8 +75,8 @@ class MycobotTopics(object): rospy.init_node("mycobot_topics") rospy.loginfo("start ...") # Select connected device，选择连接设备 - port = rospy.get_param("~port", "/dev/ttyUSB0") - baud = rospy.get_param("~baud", 115200) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) rospy.loginfo("%s,%s" % (port, baud)) # self.mc = MyCobot(port,baud) self.mc = MyCobotSocket(port, baud) # port diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py index f43d0da..1ccf23c 100755 --- a/mycobot_communication/scripts/mycobot_topics_pi.py +++ b/mycobot_communication/scripts/mycobot_topics_pi.py @@ -74,8 +74,8 @@ class MycobotTopics(object): rospy.init_node("mycobot_topics_pi") rospy.loginfo("start ...") # problem - port = rospy.get_param("~port", "/dev/ttyUSB0") - baud = rospy.get_param("~baud", 115200) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) rospy.loginfo("%s,%s" % (port, baud)) self.mc = MyCobotSocket(port, baud) # port self.mc.connect() #pi From 54086beedd5f2b3d44861035e4e6bff05e08f595 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 16:09:44 +0800 Subject: [PATCH 47/50] change port of 280pi --- mycobot_communication/launch/communication_service.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mycobot_communication/launch/communication_service.launch b/mycobot_communication/launch/communication_service.launch index 0117bd7..c420c4b 100644 --- a/mycobot_communication/launch/communication_service.launch +++ b/mycobot_communication/launch/communication_service.launch @@ -1,7 +1,7 @@ - - + + From 7675d0aa445267063df2bfa98ea476efa0d8d751 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 16:30:34 +0800 Subject: [PATCH 48/50] add mycobot_280pi ROS moveit --- .../mycobot_280pi_moveit/CMakeLists.txt | 22 ++ mycobot_280/mycobot_280pi_moveit/LICENSE | 25 ++ .../config/chomp_planning.yaml | 18 ++ .../config/fake_controllers.yaml | 9 + .../config/firefighter.srdf | 42 +++ .../config/joint_limits.yaml | 34 +++ .../config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 150 +++++++++++ .../config/ros_controllers.yaml | 26 ++ .../config/sensors_3d.yaml | 10 + .../launch/chomp_planning_pipeline.launch.xml | 10 + .../launch/default_warehouse_db.launch | 15 ++ .../mycobot_280pi_moveit/launch/demo.launch | 66 +++++ .../launch/demo_gazebo.launch | 70 +++++ .../fake_moveit_controller_manager.launch.xml | 9 + ...ghter_moveit_controller_manager.launch.xml | 10 + ...refighter_moveit_sensor_manager.launch.xml | 3 + .../mycobot_280pi_moveit/launch/gazebo.launch | 23 ++ .../launch/joystick_control.launch | 17 ++ .../launch/move_group.launch | 77 ++++++ .../mycobot_280pi_moveit/launch/moveit.rviz | 250 ++++++++++++++++++ .../launch/moveit_rviz.launch | 16 ++ .../launch/mycobot_moveit.launch | 65 +++++ .../launch/ompl_planning_pipeline.launch.xml | 22 ++ .../launch/planning_context.launch | 24 ++ .../launch/planning_pipeline.launch.xml | 10 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 22 ++ .../launch/sensor_manager.launch.xml | 17 ++ .../launch/setup_assistant.launch | 15 ++ .../launch/trajectory_execution.launch.xml | 20 ++ .../launch/warehouse.launch | 15 ++ .../launch/warehouse_settings.launch.xml | 16 ++ mycobot_280/mycobot_280pi_moveit/package.xml | 40 +++ ...th_planning_and_obstacle_avoidance_demo.py | 137 ++++++++++ .../mycobot_280pi_moveit/scripts/sync_plan.py | 41 +++ 36 files changed, 1362 insertions(+) create mode 100644 mycobot_280/mycobot_280pi_moveit/CMakeLists.txt create mode 100644 mycobot_280/mycobot_280pi_moveit/LICENSE create mode 100644 mycobot_280/mycobot_280pi_moveit/config/chomp_planning.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/fake_controllers.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/firefighter.srdf create mode 100644 mycobot_280/mycobot_280pi_moveit/config/joint_limits.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/kinematics.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/ompl_planning.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/ros_controllers.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/config/sensors_3d.yaml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/chomp_planning_pipeline.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/default_warehouse_db.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/demo.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/demo_gazebo.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/fake_moveit_controller_manager.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/gazebo.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/joystick_control.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/move_group.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/moveit.rviz create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/moveit_rviz.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/mycobot_moveit.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/ompl_planning_pipeline.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/planning_context.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/planning_pipeline.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/ros_controllers.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/run_benchmark_ompl.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/sensor_manager.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/setup_assistant.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/trajectory_execution.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/warehouse.launch create mode 100644 mycobot_280/mycobot_280pi_moveit/launch/warehouse_settings.launch.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/package.xml create mode 100644 mycobot_280/mycobot_280pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py create mode 100644 mycobot_280/mycobot_280pi_moveit/scripts/sync_plan.py diff --git a/mycobot_280/mycobot_280pi_moveit/CMakeLists.txt b/mycobot_280/mycobot_280pi_moveit/CMakeLists.txt new file mode 100644 index 0000000..d5a123f --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mycobot_280pi_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + scripts/path_planning_and_obstacle_avoidance_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mycobot_280/mycobot_280pi_moveit/LICENSE b/mycobot_280/mycobot_280pi_moveit/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/LICENSE @@ -0,0 +1,25 @@ +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_280/mycobot_280pi_moveit/config/chomp_planning.yaml b/mycobot_280/mycobot_280pi_moveit/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/fake_controllers.yaml b/mycobot_280/mycobot_280pi_moveit/config/fake_controllers.yaml new file mode 100644 index 0000000..47a2eb3 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint6output_to_joint6 \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/firefighter.srdf b/mycobot_280/mycobot_280pi_moveit/config/firefighter.srdf new file mode 100644 index 0000000..1c94891 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/firefighter.srdf @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/config/joint_limits.yaml b/mycobot_280/mycobot_280pi_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..6e9612a --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint2_to_joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3_to_joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4_to_joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5_to_joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6_to_joint5: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6output_to_joint6: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/kinematics.yaml b/mycobot_280/mycobot_280pi_moveit/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/ompl_planning.yaml b/mycobot_280/mycobot_280pi_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..82f7d9d --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/ros_controllers.yaml b/mycobot_280/mycobot_280pi_moveit/config/ros_controllers.yaml new file mode 100644 index 0000000..6b814df --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/ros_controllers.yaml @@ -0,0 +1,26 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint6output_to_joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/config/sensors_3d.yaml b/mycobot_280/mycobot_280pi_moveit/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/mycobot_280/mycobot_280pi_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..273d282 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/default_warehouse_db.launch b/mycobot_280/mycobot_280pi_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..dfd3950 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/demo.launch b/mycobot_280/mycobot_280pi_moveit/launch/demo.launch new file mode 100644 index 0000000..0e888b7 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/demo.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/demo_gazebo.launch b/mycobot_280/mycobot_280pi_moveit/launch/demo_gazebo.launch new file mode 100644 index 0000000..729e22b --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..4ed4180 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..6ddaf47 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/gazebo.launch b/mycobot_280/mycobot_280pi_moveit/launch/gazebo.launch new file mode 100644 index 0000000..9aedf6a --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/joystick_control.launch b/mycobot_280/mycobot_280pi_moveit/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/move_group.launch b/mycobot_280/mycobot_280pi_moveit/launch/move_group.launch new file mode 100644 index 0000000..8fb411a --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/moveit.rviz b/mycobot_280/mycobot_280pi_moveit/launch/moveit.rviz new file mode 100644 index 0000000..38b3736 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/moveit.rviz @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.742560029 + Tree Height: 325 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +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 + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.0799999982 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: mycobot_arm + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.200000003 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.39158678 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.113567002 + Y: 0.105920002 + Z: 2.23518001e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.439796686 + Target Frame: joint1 + Value: XYOrbit (rviz) + Yaw: 2.5317657 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 92 + Y: 24 diff --git a/mycobot_280/mycobot_280pi_moveit/launch/moveit_rviz.launch b/mycobot_280/mycobot_280pi_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..dd3cc08 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/mycobot_moveit.launch b/mycobot_280/mycobot_280pi_moveit/launch/mycobot_moveit.launch new file mode 100644 index 0000000..ff6572b --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/mycobot_moveit.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..09e28a3 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/planning_context.launch b/mycobot_280/mycobot_280pi_moveit/launch/planning_context.launch new file mode 100644 index 0000000..49549ca --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/planning_pipeline.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..22cf4a1 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/ros_controllers.launch b/mycobot_280/mycobot_280pi_moveit/launch/ros_controllers.launch new file mode 100644 index 0000000..241c455 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/run_benchmark_ompl.launch b/mycobot_280/mycobot_280pi_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..4c1d93c --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/sensor_manager.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..5a56821 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/setup_assistant.launch b/mycobot_280/mycobot_280pi_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..b68da93 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/trajectory_execution.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..e42776b --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/warehouse.launch b/mycobot_280/mycobot_280pi_moveit/launch/warehouse.launch new file mode 100644 index 0000000..270eedb --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/launch/warehouse_settings.launch.xml b/mycobot_280/mycobot_280pi_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi_moveit/package.xml b/mycobot_280/mycobot_280pi_moveit/package.xml new file mode 100644 index 0000000..2193751 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/package.xml @@ -0,0 +1,40 @@ + + + mycobot_280pi_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + zachary + zachary + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + + mycobot_description + + + diff --git a/mycobot_280/mycobot_280pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_280/mycobot_280pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py new file mode 100644 index 0000000..cd4024d --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy, roslib, sys +import moveit_commander +from moveit_msgs.msg import RobotTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from geometry_msgs.msg import PoseStamped, Pose +from tf.transformations import euler_from_quaternion, quaternion_from_euler + + +class MoveItPlanningDemo: + def __init__(self): + # API to initialize move_group,初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # Initialize the ROS node,初始化ROS节点 + rospy.init_node("moveit_ik_demo") + + # Initialize the scene object to monitor changes in the external environment + # 初始化场景对象，用来监听外部环境的变化 + self.scene = moveit_commander.PlanningSceneInterface() + rospy.sleep(1) + + # Initialize self.arm group in the robotic arm that needs to be controlled by move group + # 初始化需要使用move group控制的机械臂中的self.arm group + self.arm = moveit_commander.MoveGroupCommander("arm_group") + + # Get the name of the terminal link,获取终端link的名称 + self.end_effector_link = self.arm.get_end_effector_link() + + # Set the reference coordinate system used for the target position + # 设置目标位置所使用的参考坐标系 + self.reference_frame = "joint1" + self.arm.set_pose_reference_frame(self.reference_frame) + + # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划 + self.arm.allow_replanning(True) + + # Set the allowable error of position (unit: meter) and attitude (unit: radian) + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm.set_goal_position_tolerance(0.01) + self.arm.set_goal_orientation_tolerance(0.05) + + def moving(self): + # # Control the robotic arm to return to the initialization position first + # 控制机械臂先回到初始化位置 + self.arm.set_named_target("init_pose") + self.arm.go() + rospy.sleep(2) + + # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates, + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # Pose is described by quaternion, based on base_link coordinate system + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.132 + target_pose.pose.position.y = -0.150 + target_pose.pose.position.z = 0.075 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # Set the current state of the robot arm as the initial state of motion + # 设置机器臂当前的状态作为运动初始状态 + self.arm.set_start_state_to_current_state() + + # Set the target pose of the terminal motion of the robotic arm + # 设置机械臂终端运动的目标位姿 + self.arm.set_pose_target(target_pose, self.end_effector_link) + + # Plan the movement path,规划运动路径 + traj = self.arm.plan() + + # Control the motion of the robotic arm according to the planned motion path + # 按照规划的运动路径控制机械臂运动 + self.arm.execute(traj) + rospy.sleep(1) + + # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy + # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy + self.arm.shift_pose_target(1, 0.12, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + self.arm.shift_pose_target(1, 0.1, self.end_effector_link) + self.arm.go() + rospy.sleep(1) + + # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy + # 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy + # self.arm.shift_pose_target(3, -1.57, end_effector_link) + # self.arm.go() + # rospy.sleep(1) + + def run(self): + self.scene.remove_world_object("suit") + + # Run once without obstacles,没有障碍物运行一次 + self.moving() + + # Add environment,添加环境 + quat = quaternion_from_euler(3.1415, 0, -1.57) + + suit_post = PoseStamped() + suit_post.header.frame_id = self.reference_frame + suit_post.pose.position.x = 0.0 + suit_post.pose.position.y = 0.0 + suit_post.pose.position.z = -0.02 + suit_post.pose.orientation.x = quat[0] + suit_post.pose.orientation.y = quat[1] + suit_post.pose.orientation.z = quat[2] + suit_post.pose.orientation.w = quat[3] + + suit_path = ( + roslib.packages.get_pkg_dir("mycobot_description") + + "/urdf/mycobot/suit_env.dae" + ) + # need `pyassimp==3.3` + self.scene.add_mesh("suit", suit_post, suit_path) + rospy.sleep(2) + + # Run it again if there is an environmental impact,有环境影响后再运行一次 + self.moving() + + # close and exit moveit，关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == "__main__": + o = MoveItPlanningDemo() + o.run() diff --git a/mycobot_280/mycobot_280pi_moveit/scripts/sync_plan.py b/mycobot_280/mycobot_280pi_moveit/scripts/sync_plan.py new file mode 100644 index 0000000..b747e39 --- /dev/null +++ b/mycobot_280/mycobot_280pi_moveit/scripts/sync_plan.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python2 +# encoding=utf-8 +import time +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot + + +mc = None + + +def callback(data): + rospy.loginfo(rospy.get_caller_id() + "%s", data) + data_list = [] + for index, value in enumerate(data.position): + # if index != 2: + # value *= -1 + data_list.append(value) + + mc.send_radians(data_list, 80) + + +def listener(): + global mc + rospy.init_node("mycobot_reciver", anonymous=True) + + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + print(port, baud) + mc = MyCobot(port, baud) + + 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 + rospy.spin() + + +if __name__ == "__main__": + listener() From 25742c2dd669086cf7cfed8ec0c54fa83185770f Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 9 Jun 2022 17:24:12 +0800 Subject: [PATCH 49/50] fix UI display --- mycobot_280/mycobot_280pi/scripts/simple_gui.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mycobot_280/mycobot_280pi/scripts/simple_gui.py b/mycobot_280/mycobot_280pi/scripts/simple_gui.py index 9f4c791..d2757cb 100755 --- a/mycobot_280/mycobot_280pi/scripts/simple_gui.py +++ b/mycobot_280/mycobot_280pi/scripts/simple_gui.py @@ -33,7 +33,7 @@ class Window: # 计算 Tk 根窗口的 x 和 y 坐标 x = (self.ws / 2) - 190 y = (self.hs / 2) - 250 - self.win.geometry("430x370+{}+{}".format(x, y)) + self.win.geometry("430x400+{}+{}".format(x, y)) # layout,布局 self.set_layout() # input section,输入部分 From ba512cd850d9b62470784c91e7d6b5e2e8635b27 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Fri, 10 Jun 2022 15:51:53 +0800 Subject: [PATCH 50/50] resolve the conflict --- mycobot_320/new_mycobot_320/CMakeLists.txt | 1 - mycobot_communication/scripts/mycobot_services.py | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/mycobot_320/new_mycobot_320/CMakeLists.txt b/mycobot_320/new_mycobot_320/CMakeLists.txt index 5ca6e35..73640da 100644 --- a/mycobot_320/new_mycobot_320/CMakeLists.txt +++ b/mycobot_320/new_mycobot_320/CMakeLists.txt @@ -14,7 +14,6 @@ find_package(catkin REQUIRED COMPONENTS mycobot_communication mycobot_description - ) ## Generate messages in the 'msg' folder diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index 2b97386..a062387 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -1,5 +1,5 @@ #!/usr/bin/env python2 - # -*- coding: UTF-8 -*- + import time import rospy from mycobot_communication.srv import *