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fix

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This commit is contained in:
2929ss 2022-07-01 18:23:27 +08:00
parent 8317486de9
commit ada5e77323
2 changed files with 3 additions and 7 deletions
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3
mypalletizer_260/mypalletizer_260/scripts/listen_real_of_topic.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding: utf-8 -*-
import math import math
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from std_msgs.msg import Header from std_msgs.msg import Header
@ -11,7 +11,6 @@ from mypalletizer_communication.msg import MypalAngles
class Listener(object): class Listener(object):
def __init__(self): def __init__(self):
super(Listener, self).__init__() super(Listener, self).__init__()
rospy.loginfo("start ...") rospy.loginfo("start ...")
rospy.init_node("real_listener_1", anonymous=True) rospy.init_node("real_listener_1", anonymous=True)
# init publisher. 初始化发布者 # init publisher. 初始化发布者

7
mypalletizer_260/mypalletizer_communication/scripts/mypal_topics.py Normal file → Executable file
View file

@ -5,11 +5,10 @@ import os
import sys import sys
import signal import signal
import threading import threading
import rospy import rospy
from pymycobot.mypalletizer import MyPalletizer from pymycobot.mypalletizer import MyPalletizer
from mypalletizer_communication import( from mypalletizer_communication.msg import(
MypalAngles, MypalAngles,
MypalCoords, MypalCoords,
MypalSetAngles, MypalSetAngles,
@ -129,7 +128,6 @@ class MypalTopics(object):
pub = rospy.Publisher("Mypal/coords_real", pub = rospy.Publisher("Mypal/coords_real",
MypalCoords, queue_size=5) MypalCoords, queue_size=5)
ma = MypalCoords() ma = MypalCoords()
while not rospy.is_shutdown(): while not rospy.is_shutdown():
self.lock.acquire() self.lock.acquire()
coords = self.mc.get_coords() coords = self.mc.get_coords()
@ -153,7 +151,7 @@ class MypalTopics(object):
data.joint_2, data.joint_2,
data.joint_3, data.joint_3,
data.joint_4, data.joint_4,
# data.joint_5, data.joint_5,
# data.joint_6, # data.joint_6,
] ]
sp = int(data.speed) sp = int(data.speed)
@ -168,7 +166,6 @@ class MypalTopics(object):
def callback(data): def callback(data):
# angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] # angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
angles = [data.x, data.y, data.z, data.rx] angles = [data.x, data.y, data.z, data.rx]
sp = int(data.speed) sp = int(data.speed)
model = int(data.model) model = int(data.model)
self.mc.send_coords(angles, sp, model) self.mc.send_coords(angles, sp, model)