From a727b5468232bd3ba963fbb074e2705b0421ed95 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Mon, 11 Apr 2022 18:54:59 +0800 Subject: [PATCH] integrate mycobot_320 --- mycobot_320/mycobot_320/CMakeLists.txt | 232 ++------- .../config/mycobot_320_with_marker.rviz | 216 ++++++++ .../launch/mycobot_320_detect_marker.launch | 16 + ...ycobot_320_detect_marker_with_topic.launch | 29 ++ .../launch/mycobot_320_follow_display.launch | 11 + .../launch/mycobot_320_simple_gui.launch | 22 + .../launch/mycobot_320_slider.launch | 27 +- .../launch/mycobot_320_teleop_keyboard.launch | 21 + .../scripts/mycobot_320_detect_marker.py | 123 +++++ .../scripts/mycobot_320_follow_and_pump.py | 190 +++++++ .../scripts/mycobot_320_follow_display.py | 103 ++++ .../scripts/mycobot_320_following_marker.py | 64 +++ .../scripts/mycobot_320_listen_real.py | 65 +++ .../mycobot_320_listen_real_of_topic.py | 63 +++ .../scripts/mycobot_320_simple_gui.py | 474 ++++++++++++++++++ .../mycobot_320/scripts/mycobot_320_slider.py | 48 ++ .../scripts/mycobot_320_teleop_keyboard.py | 174 +++++++ .../mycobot_320/src/camera_display.cpp | 29 ++ mycobot_320/mycobot_320/src/opencv_camera.cpp | 59 +++ 19 files changed, 1772 insertions(+), 194 deletions(-) create mode 100644 mycobot_320/mycobot_320/config/mycobot_320_with_marker.rviz create mode 100644 mycobot_320/mycobot_320/launch/mycobot_320_detect_marker.launch create mode 100644 mycobot_320/mycobot_320/launch/mycobot_320_detect_marker_with_topic.launch create mode 100644 mycobot_320/mycobot_320/launch/mycobot_320_follow_display.launch create mode 100644 mycobot_320/mycobot_320/launch/mycobot_320_simple_gui.launch create mode 100644 mycobot_320/mycobot_320/launch/mycobot_320_teleop_keyboard.launch create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_slider.py create mode 100644 mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py create mode 100644 mycobot_320/mycobot_320/src/camera_display.cpp create mode 100644 mycobot_320/mycobot_320/src/opencv_camera.cpp diff --git a/mycobot_320/mycobot_320/CMakeLists.txt b/mycobot_320/mycobot_320/CMakeLists.txt index 6be0d26..fd4daaf 100644 --- a/mycobot_320/mycobot_320/CMakeLists.txt +++ b/mycobot_320/mycobot_320/CMakeLists.txt @@ -1,205 +1,57 @@ cmake_minimum_required(VERSION 3.0.2) project(mycobot_320) +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 catkin and any catkin packages find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge + mycobot_communication mycobot_description + mycobot_320 ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need +## Declare a catkin package catkin_package( -# INCLUDE_DIRS include -# LIBRARIES mycobot_320 -# CATKIN_DEPENDS mycobot_communication mycobot_description -# DEPENDS system_lib + CATKIN_DEPENDS std_msgs actionlib + + INCLUDE_DIRS include + LIBRARIES mycobot_320 + CATKIN_DEPENDS mycobot_communication mycobot_description + DEPENDS system_lib ) -########### -## Build ## -########### +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} +catkin_install_python(PROGRAMS + scripts/mycobot_320_follow_display.py + scripts/mycobot_320_slider.py + scripts/mycobot_320_teleop_keyboard.py + scripts/mycobot_320_listen_real.py + scripts/mycobot_320_listen_real_of_topic.py + scripts/mycobot_320_detect_marker.py + scripts/mycobot_320_following_marker.py + scripts/mycobot_320_follow_and_pump.py + scripts/mycobot_320_simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/mycobot_320.cpp -# ) +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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_320_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_320.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +find_package(OpenCV REQUIRED) +add_executable(opencv_camera src/opencv_camera.cpp) +# Declare a C++ library +add_library(${PROJECT_NAME} + src/opencv_camera.cpp + ) +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_320/mycobot_320/config/mycobot_320_with_marker.rviz b/mycobot_320/mycobot_320/config/mycobot_320_with_marker.rviz new file mode 100644 index 0000000..d343e8c --- /dev/null +++ b/mycobot_320/mycobot_320/config/mycobot_320_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: 662 + - 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: 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: 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: 0.440398335 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.430389732 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 903 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 65 + Y: 24 diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker.launch b/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker.launch new file mode 100644 index 0000000..9b809d6 --- /dev/null +++ b/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker_with_topic.launch b/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker_with_topic.launch new file mode 100644 index 0000000..a99240f --- /dev/null +++ b/mycobot_320/mycobot_320/launch/mycobot_320_detect_marker_with_topic.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_follow_display.launch b/mycobot_320/mycobot_320/launch/mycobot_320_follow_display.launch new file mode 100644 index 0000000..bae2c2a --- /dev/null +++ b/mycobot_320/mycobot_320/launch/mycobot_320_follow_display.launch @@ -0,0 +1,11 @@ + + + + + + + + ["joint_states"] + + + diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_simple_gui.launch b/mycobot_320/mycobot_320/launch/mycobot_320_simple_gui.launch new file mode 100644 index 0000000..c180c24 --- /dev/null +++ b/mycobot_320/mycobot_320/launch/mycobot_320_simple_gui.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_slider.launch b/mycobot_320/mycobot_320/launch/mycobot_320_slider.launch index d2cf5c8..a2869ee 100644 --- a/mycobot_320/mycobot_320/launch/mycobot_320_slider.launch +++ b/mycobot_320/mycobot_320/launch/mycobot_320_slider.launch @@ -1,12 +1,31 @@ - + + + - - + + + + + + + + + + + + + + + + diff --git a/mycobot_320/mycobot_320/launch/mycobot_320_teleop_keyboard.launch b/mycobot_320/mycobot_320/launch/mycobot_320_teleop_keyboard.launch new file mode 100644 index 0000000..2e0097b --- /dev/null +++ b/mycobot_320/mycobot_320/launch/mycobot_320_teleop_keyboard.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py b/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py new file mode 100644 index 0000000..04ca483 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_detect_marker.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python +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. + 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. + 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. + 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. + 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. + # argument: + # marker corners + # marker size (meter) + 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. + 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. + 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] + 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_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py new file mode 100644 index 0000000..f26b669 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_and_pump.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# 与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# 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) +# Judging equipment: ttyUSB* is M5；ttyACM* is wio +robot = os.popen("ls /dev/ttyUSB*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# 实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# 与 mycobot 真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# 通过该变量限制，抓取行为只做一次 +flag = False + +# 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): + """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): + """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): + """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): + """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): + """回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # 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")) + + # 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: # 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 + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py new file mode 100644 index 0000000..9665dc8 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_follow_display.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python2 +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/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + 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 + # 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_320/mycobot_320/scripts/mycobot_320_following_marker.py b/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py new file mode 100644 index 0000000..4afe3f9 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_following_marker.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +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 + 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_320/mycobot_320/scripts/mycobot_320_listen_real.py b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py new file mode 100644 index 0000000..d022c72 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python2 +# 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 + 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. + 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. + 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. + 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_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py new file mode 100644 index 0000000..169567a --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_listen_real_of_topic.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python2 +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. + self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) + # init subscriber. + 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. + 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. + 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_320/mycobot_320/scripts/mycobot_320_simple_gui.py b/mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py new file mode 100644 index 0000000..f1eccc6 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_simple_gui.py @@ -0,0 +1,474 @@ +#!/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) # 固定窗口大小 + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # 设置默认速度 + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # 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 + 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 + x = (self.ws / 2) - 190 + y = (self.hs / 2) - 250 + self.win.geometry("430x370+{}+{}".format(x, y)) + # 布局 + self.set_layout() + # 输入部分 + self.need_input() + # 展示部分 + self.show_init() + + # joint 设置按钮 + 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 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 + ) + + # 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): + # 输入提示 + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # 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) # 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) + + # 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 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 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) + + # 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] + + # 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): + # 显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # 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 + + # ，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, + ] + + # 显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) # 第二行 + 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 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: + # 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): + # 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): + # 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): + # 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=""): + # 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_320/mycobot_320/scripts/mycobot_320_slider.py b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py new file mode 100644 index 0000000..6491795 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python2 + +"""[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 + + +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/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyCobot(port, baud) + + # spin() simply keeps python from exiting until this node is stopped + print("spin ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py b/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py new file mode 100644 index 0000000..77d7d13 --- /dev/null +++ b/mycobot_320/mycobot_320/scripts/mycobot_320_teleop_keyboard.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python +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 + + +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: + print("joint1's angle : "+str(res.x)+"is not > 1,please calibrate the joint1's angle") + 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)) + 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) + 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[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_320/mycobot_320/src/camera_display.cpp b/mycobot_320/mycobot_320/src/camera_display.cpp new file mode 100644 index 0000000..1f3abeb --- /dev/null +++ b/mycobot_320/mycobot_320/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_320/mycobot_320/src/opencv_camera.cpp b/mycobot_320/mycobot_320/src/opencv_camera.cpp new file mode 100644 index 0000000..44b4522 --- /dev/null +++ b/mycobot_320/mycobot_320/src/opencv_camera.cpp @@ -0,0 +1,59 @@ +#include +#include +#include +#include +#include // for converting the command line parameter to integer + +int main(int argc, char **argv) +{ + // Check if video source has been passed as a parameter + if (argv[1] == NULL) + { + ROS_INFO("argv[1]=NULL\n"); + return 1; + } + + ros::init(argc, argv, "image_publisher"); // Initialize node + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic + + ros::Rate loop_rate(200); // refresh Hz. + + // Convert the passed as command line parameter index for the video device to an integer + std::istringstream video_sourceCmd(argv[1]); + int video_source; + // Check if it is indeed a number + 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 + 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 + 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; + } +}