Merge pull request #18 from elephantrobotics/dev

Dev
2026-07-05 19:47:04 +00:00 · 2021-05-12 19:36:04 +08:00 · 2021-05-12 19:36:04 +08:00 · b035546361
commit b035546361
parent 05db4baccb 05d9327390
51 changed files with 1446 additions and 88 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(myCobotROS) 
+project(mycobot_ros) 
 add_compile_options(-std=c++11)

 ## Find catkin and any catkin packages
@ -9,7 +9,10 @@ find_package(catkin REQUIRED COMPONENTS
  std_msgs 
  genmsg 
  message_generation 
-  serial
+  actionlib
+  moveit_msgs
+  image_transport
+  cv_bridge
 )

 add_message_files(FILES
@ -28,21 +31,33 @@ add_service_files(FILES
 generate_messages(DEPENDENCIES std_msgs)

 ## Declare a catkin package
-catkin_package(CATKIN_DEPENDS message_runtime std_msgs)
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs actionlib moveit_msgs
+)

 ## Build talker and listener
-include_directories(include ${catkin_INCLUDE_DIRS}) 
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) 

 catkin_install_python(PROGRAMS 
-  scripts/display.py 
-  scripts/control_slider.py 
+  scripts/follow_display.py 
+  scripts/slider_control.py 
  scripts/control_marker.py
-  scripts/mycobot_ros.py
+  scripts/mycobot_services.py
  scripts/listen_real.py
  scripts/teleop_keyboard.py
  scripts/client.py
+  scripts/camera.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})


--- a/README.md
+++ b/README.md
@ -1,4 +1,4 @@
-# myCobotROS
+# mycobot_ros

 [![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)](READMEcn.md)

@ -46,7 +46,7 @@ This command does three things:
 3) `docker-compose up ros`

   This runs the image specified in the `docker-compose.yml`, which by default runs
-   the command `roslaunch myCobotROS control_slider.launch` within the container.
+   the command `roslaunch mycobot_ros control_slider.launch` within the container.
   

 ### Option 2: Local
@ -64,7 +64,7 @@ Install ros package in your src folder of your Catkin workspace.

 ```bash
 $ cd ~/catkin_ws/src
-$ git clone https://github.com/elephantrobotics/myCobotROS.git
+$ git clone https://github.com/elephantrobotics/mycobot_ros.git
 $ cd ~/catkin_ws
 $ catkin_make
 $ source ~/catkin_ws/devel/setup.bash
@ -73,7 +73,7 @@ $ source ~/catkin_ws/devel/setup.bash
 #### 1.3 Test Python API

 ```bash
-cd ~/catkin_ws/src/myCobotROS
+cd ~/catkin_ws/src/mycobot_ros
 python scripts/test.py
 ```

@ -109,13 +109,13 @@ python scripts/test.py
  - launch ros and rviz

  ```
-  roslaunch myCobotROS control_slider.launch
+  roslaunch mycobot_ros control_slider.launch
  ```

  - run python script

  ```
-  rosrun myCobotROS control_slider.py
+  rosrun mycobot_ros control_slider.py
  ```

 - **The model moves with the real manipulator**
@ -123,13 +123,13 @@ python scripts/test.py
  - launch ros and rviz

  ```
-  roslanuch myCobotROS mycobot.launch
+  roslanuch mycobot_ros mycobot.launch
  ```

  - run python script

  ```
-  rosrun myCobotROS display.py
+  rosrun mycobot_ros display.py
  ```

 - **Open the keyboard controller**
@ -137,13 +137,13 @@ python scripts/test.py
  - launch

  ```
-  roslaunch myCobotROS mycobot_teleop_keyboard.launch PORT:=/dev/ttyUSB0
+  roslaunch mycobot_ros mycobot_teleop_keyboard.launch PORT:=/dev/ttyUSB0
  ```

  - open another terminal run script

  ```
-  rosrun myCobotROS teleop_keyboard.py _speed:=60 _change_size:=10
+  rosrun mycobot_ros teleop_keyboard.py _speed:=60 _change_size:=10
  ```

  Then you will see this:
@ -155,6 +155,8 @@ python scripts/test.py
                w(x+)
  
      a(y-)     s(x-)     d(y+)
+
+      z(z-) x(z+)
  
  u(rx+)   i(ry+)   o(rz+)
  j(rx-)   k(ry-)   l(rz-)
@ -172,10 +174,24 @@ python scripts/test.py
  currently:      speed 50        change size 10 
  ```

+## MoveIT
+
+### Execute plan with actual robot.
+
+```
+roslaunch mycobot_ros demo.launch
+```
+
+Open a new terminal and run:
+
+```
+rosrun mycobot_ros sync_signal.py
+```
+
 <!-- If you use the above command, then you may need to manually add some model components. If you don't want to be so troublesome, you can use the following command to load a saved **myCobot** model.

 ```bash
-rosrun rviz rviz -d rospack find myCobotROS/config/mycobot.rviz
+rosrun rviz rviz -d rospack find mycobot_ros/config/mycobot.rviz
 ``` -->

 ## Q & A
--- a/READMEcn.md
+++ b/READMEcn.md
@ -1,4 +1,4 @@
-# myCobotROS
+# mycobot_ros

 [![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)](README.md)

@ -33,7 +33,7 @@ pip install pymycobot --user

 ```bash
 $ cd ~/catkin_ws/src
-$ git clone https://github.com/elephantrobotics/myCobotROS.git
+$ git clone https://github.com/elephantrobotics/mycobot_ros.git
 $ cd ~/catkin_ws
 $ catkin_make
 ```
@ -41,7 +41,7 @@ $ catkin_make
 ### 1.3 你可以选择测试 Python API

 ```bash
-cd ~/catkin_ws/src/myCobotROS
+cd ~/catkin_ws/src/mycobot_ros
 python scripts/test.py
 ```

@ -77,13 +77,13 @@ python scripts/test.py
  - 启动 ros 和 rviz

  ```
-  roslaunch myCobotROS control_slider.launch
+  roslaunch mycobot_ros control_slider.launch
  ```

  - 运行 python 脚本

  ```
-  rosrun myCobotROS control_slider.py
+  rosrun mycobot_ros control_slider.py
  ```

 - 仿真模型同步机械臂
@ -91,13 +91,13 @@ python scripts/test.py
  - 启动 ros 和 rviz

  ```
-  roslanuch myCobotROS mycobot.launch
+  roslanuch mycobot_ros mycobot.launch
  ```

  - 运行 python 脚本

  ```
-  rosrun myCobotROS display.py
+  rosrun mycobot_ros display.py
  ```

 ## Q & A
--- a/config/chomp_planning.yaml
+++ b/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
--- a/config/fake_controllers.yaml
+++ b/config/fake_controllers.yaml
@ -0,0 +1,9 @@
+controller_list:
+  - name: fake_mycobot_arm_controller
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
--- a/config/firefighter.srdf
+++ b/config/firefighter.srdf
@ -0,0 +1,43 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="firefighter">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="mycobot_arm">
+        <joint name="virtual_joint" />
+        <joint name="joint2_to_joint1" />
+        <joint name="joint3_to_joint2" />
+        <joint name="joint4_to_joint3" />
+        <joint name="joint5_to_joint4" />
+        <joint name="joint6_to_joint5" />
+        <joint name="joint6output_to_joint6" />
+        <chain base_link="joint1" tip_link="joint6_flange" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="init_pose" group="mycobot_arm">
+        <joint name="joint2_to_joint1" value="0" />
+        <joint name="joint3_to_joint2" value="0" />
+        <joint name="joint4_to_joint3" value="0" />
+        <joint name="joint5_to_joint4" value="0" />
+        <joint name="joint6_to_joint5" value="0" />
+        <joint name="joint6output_to_joint6" value="0" />
+    </group_state>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world_frame" child_link="joint1" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent" />
+    <disable_collisions link1="joint2" link2="joint5" reason="Never" />
+    <disable_collisions link1="joint2" link2="joint6" reason="Never" />
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent" />
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent" />
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />
+    <disable_collisions link1="joint5" link2="joint6_flange" reason="Never" />
+    <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" />
+</robot>
--- a/config/joint_limits.yaml
+++ b/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
--- a/config/kinematics.yaml
+++ b/config/kinematics.yaml
@ -0,0 +1,5 @@
+mycobot_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
--- a/config/ompl_planning.yaml
+++ b/config/ompl_planning.yaml
@ -0,0 +1,148 @@
+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
+mycobot_arm:
+  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
--- a/config/ros_controllers.yaml
+++ b/config/ros_controllers.yaml
@ -0,0 +1,35 @@
+# Simulation settings for using moveit_sim_controllers
+moveit_sim_hw_interface:
+  joint_model_group: mycobot_arm
+  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:
+    - 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:
+  - name: mycobot_controller
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
--- a/config/sensors_3d.yaml
+++ b/config/sensors_3d.yaml
@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
--- a/docker-compose.yml
+++ b/docker-compose.yml
@ -1,7 +1,7 @@
 version: '3.4'

 x-app: &common
-  command: [ "roslaunch myCobotROS control_slider.launch" ]
+  command: [ "roslaunch mycobot_ros control_slider.launch" ]
  privileged: true
  environment:
    PYTHONUNBUFFERED: 1
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@ -0,0 +1,10 @@
+<launch>
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <rosparam command="load" file="$(find mycobot_ros)/config/chomp_planning.yaml" />
+</launch>
--- a/launch/communication_service.launch
+++ b/launch/communication_service.launch
@ -3,7 +3,7 @@
 	<arg name="BAUD" default="115200" />

 	<!-- Open communication service -->
-	<node name="mycobot_services" pkg="myCobotROS" type="mycobot_ros.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_ros" type="mycobot_services.py" output="screen">
 		<param name="port" type="string" value="$(arg PORT)" />
 		<param name="baud" type="int" value="$(arg BAUD)" />
    </node>
--- a/launch/default_warehouse_db.launch
+++ b/launch/default_warehouse_db.launch
@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find mycobot_ros)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find mycobot_ros)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
--- a/launch/demo.launch
+++ b/launch/demo.launch
@ -0,0 +1,59 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find mycobot_ros)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    <!-- <rosparam param="source_list">[/joint_states]</rosparam> -->
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find mycobot_ros)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find mycobot_ros)/launch/moveit_rviz.launch">
+    <!-- <arg name="config" value="false"/> -->
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find mycobot_ros)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
--- a/launch/demo_gazebo.launch
+++ b/launch/demo_gazebo.launch
@ -0,0 +1,70 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find mycobot_ros)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+  <!-- By default, use the urdf location provided from the package -->
+  <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(find mycobot_ros)/launch/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="urdf_path" value="$(arg urdf_path)"/>
+  </include>
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="false"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[/joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find mycobot_ros)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>  
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find mycobot_ros)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find mycobot_ros)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
--- a/launch/fake_moveit_controller_manager.launch.xml
+++ b/launch/fake_moveit_controller_manager.launch.xml
@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find mycobot_ros)/config/fake_controllers.yaml"/>
+
+</launch>
--- a/launch/firefighter_moveit_controller_manager.launch.xml
+++ b/launch/firefighter_moveit_controller_manager.launch.xml
@ -0,0 +1,10 @@
+<launch>
+
+  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
+    if no argument is passed, moveit_simple_controller_manager will be set -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <!-- loads ros_controllers to the param server -->
+  <rosparam file="$(find mycobot_ros)/config/ros_controllers.yaml"/>
+</launch>
--- a/launch/firefighter_moveit_sensor_manager.launch.xml
+++ b/launch/firefighter_moveit_sensor_manager.launch.xml
@ -0,0 +1,3 @@
+<launch>
+
+</launch>
--- a/launch/gazebo.launch
+++ b/launch/gazebo.launch
@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(arg urdf_path)" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
+    respawn="false" output="screen" />
+
+  <include file="$(find mycobot_ros)/launch/ros_controllers.launch"/>
+
+</launch>
--- a/launch/joystick_control.launch
+++ b/launch/joystick_control.launch
@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
--- a/launch/move_group.launch
+++ b/launch/move_group.launch
@ -0,0 +1,77 @@
+<launch>
+
+  <include file="$(find mycobot_ros)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find mycobot_ros)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find mycobot_ros)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find mycobot_ros)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find mycobot_ros)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="firefighter" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
+
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
--- a/launch/moveit.rviz
+++ b/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: <Fixed 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
--- a/launch/moveit_rviz.launch
+++ b/launch/moveit_rviz.launch
@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="config" default="false" />
+  <arg unless="$(arg config)" name="command_args" value="" />
+  <arg     if="$(arg config)" name="command_args" value="-d $(find mycobot_ros)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find mycobot_ros)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
--- a/launch/mycobot_follow.launch
+++ b/launch/mycobot_follow.launch
@ -1,6 +1,6 @@
 <launch>
-	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

--- a/launch/mycobot_slider.launch
+++ b/launch/mycobot_slider.launch
@ -1,6 +1,9 @@
 <launch>
-	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@ -12,7 +15,10 @@
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
 	<!-- Open control script -->
-	<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/> 
+	<!-- <node name="control_slider" pkg="mycobot_ros" type="control_slider.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>
--- a/launch/mycobot_teleop_keyboard.launch
+++ b/launch/mycobot_teleop_keyboard.launch
@ -2,8 +2,8 @@
 	<arg name="PORT" default="/dev/ttyUSB0" />
 	<arg name="BAUD" default="115200" />

-	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
 	<arg name="gui" default="false" />

 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@ -13,9 +13,9 @@
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

-    <include file="$(find myCobotROS)/launch/communication_service.launch">
+    <include file="$(find mycobot_ros)/launch/communication_service.launch">
 		<arg name="PORT" value="$(arg PORT)" />	
 		<arg name="BAUD" value="$(arg BAUD)" />	
    </include>
-	<node name="real_listener" pkg="myCobotROS" type="listen_real.py" />
+	<node name="real_listener" pkg="mycobot_ros" type="listen_real.py" />
 </launch>
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find mycobot_ros)/config/ompl_planning.yaml"/>
+
+</launch>
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_ros)/config/firefighter.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find mycobot_ros)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find mycobot_ros)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
--- a/launch/planning_pipeline.launch.xml
+++ b/launch/planning_pipeline.launch.xml
@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find mycobot_ros)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
--- a/launch/ros_controllers.launch
+++ b/launch/ros_controllers.launch
@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find mycobot_ros)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args=""/>
+
+</launch>
--- a/launch/run_benchmark_ompl.launch
+++ b/launch/run_benchmark_ompl.launch
@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find mycobot_ros)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find mycobot_ros)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find mycobot_ros)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
--- a/launch/sensor_manager.launch.xml
+++ b/launch/sensor_manager.launch.xml
@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find mycobot_ros)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="firefighter" />
+  <include file="$(find mycobot_ros)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
--- a/launch/setup_assistant.launch
+++ b/launch/setup_assistant.launch
@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+	args="--config_pkg=mycobot_ros"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
--- a/launch/trajectory_execution.launch.xml
+++ b/launch/trajectory_execution.launch.xml
@ -0,0 +1,20 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="firefighter" />
+  <include file="$(find mycobot_ros)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+
+</launch>
--- a/launch/warehouse.launch
+++ b/launch/warehouse.launch
@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find mycobot_ros)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
--- a/launch/warehouse_settings.launch.xml
+++ b/launch/warehouse_settings.launch.xml
@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
--- a/package.xml
+++ b/package.xml
@ -1,28 +1,44 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>myCobotROS</name>
+  <name>mycobot_ros</name>
  <version>0.1.0</version>
-  <description>The myCobotROS package</description>
+  <description>The mycobot_ros package</description>

-  <maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
-  <license>BSD</license>
-  <url type="website"></url>
  <author email="lijun.zhang@elephantrobotics.com">ZhangLijun</author>
+  <maintainer email="lijun.zhang@elephantrobotics.com">ZhangLijun</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website"></url>

  <buildtool_depend>catkin</buildtool_depend>

+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
-  <build_depend>serial</build_depend>
  <build_depend>message_generation</build_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>serial</exec_depend>
  <exec_depend>message_runtime</exec_depend>

+  <build_depend>actionlib</build_depend>
+  <build_depend>moveit_msgs</build_depend>
+
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+

  <!-- The export tag contains other, unspecified, tags -->
  <export>
--- a/scripts/camera.py
+++ b/scripts/camera.py
@ -0,0 +1,106 @@
+#!/usr/bin/env python
+import rospy
+import cv2 as cv
+import numpy as np
+from geometry_msgs.msg import Twist
+from cv_bridge import CvBridge, CvBridgeError
+from sensor_msgs.msg import Image
+from visualization_msgs.msg import Marker
+import tf_conversions
+from mycobot_ros.srv import (
+    GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus)
+
+
+class image_converter:
+    def __init__(self):
+        self.mark_pub = rospy.Publisher("/bebop/marker", Marker, queue_size=1)
+        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
+        # rospy.wait_for_service('get_joint_coords')
+        # rospy.wait_for_service('set_joint_coords')
+
+        try:
+            self.get_coords = rospy.ServiceProxy('get_joint_coords', GetCoords)
+            self.set_coords = rospy.ServiceProxy('set_joint_coords', SetCoords)
+        except:
+            print('Error: cannot connect service...')
+            exit(1)
+        self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
+
+
+    def callback(self, data):
+        try:
+            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+            # sucess, cv_image = self.cap.read()
+        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:
+            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)
+        corners, ids, rejectImaPoint = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
+        if len(corners) > 0:
+            if ids is not None:
+                # print('corners:', corners, 'ids:', ids)
+                rvec, tvec, _ = cv.aruco.estimatePoseSingleMarkers(corners, 0.05, self.camera_matrix, self.dist_coeffs)
+                (rvec - tvec).any()
+
+                print('rvec:', rvec, 'tvec:', tvec)
+
+                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)
+
+                res = self.get_coords()
+                if res.x == res.y == 0.0:
+                    return
+                record_coords = [
+                    res.x, res.y, res.z, res.rx, res.ry, res.rz, 60, 1
+                ]
+                print(record_coords)
+
+        # [x, y, z, -172, 3, -46.8]
+        cv.imshow("Image", cv_image)
+
+
+        # marker = Marker()
+        # marker.header.frame_id = '/joint1'
+        # 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.pose.position.x = center_x / 100
+        # marker.pose.position.y = center_y / 100
+        # marker.pose.position.z = 0
+
+        # marker.color.a = 1.0
+        # marker.color.g = 1.0
+
+        cv.waitKey(3)
+        try:
+            # self.mark_pub.publish(marker)
+            pass
+        except CvBridgeError as e:
+            print e
+if __name__ == '__main__':
+    try:
+        rospy.init_node("cv_bridge_test")
+        rospy.loginfo("Starting cv_bridge_test node")
+        image_converter()
+        rospy.spin()
+    except KeyboardInterrupt:
+        print "Shutting down cv_bridge_test node."
+        cv.destroyAllWindows()
--- a/scripts/cilibrate_camera.py
+++ b/scripts/cilibrate_camera.py
@ -0,0 +1,31 @@
+import numpy as np
+import cv2
+import cv2.aruco as aruco
+import glob
+
+def calibrateKd(im_fpath, aruco_len=60.0):
+    (w, h) = (6, 4)
+    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.01)
+    objp = np.zeros((w*h, 3), np.float32)
+    objp[:, :2] = np.mgrid[0:w, 0:h].T.reshape(-1, 2)
+    objp *= aruco_len
+    objpoints, imgpoints = [], []
+    images = glob.glob(f'{im_fpath}/*')
+    for fname in images:
+        img = cv2.imread(fname)
+        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        ret, corners = cv2.findChessboardCorners(gray, (w, h), None)
+        if ret == True:
+            objpoints.append(objp)
+            corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
+            imgpoints.append(corners2)
+            img = cv2.drawChessboardCorners(img, (6, 4), corners2, ret)
+
+    ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shap[::-1], None, None)
+    tot_error = 0
+    for i in range(len(objpoints)):
+        imgpoints2, _ = cv2.projectPoints(objpoints[i], rvecs[i], tvecs[i], mtx, dist)
+        error = cv2.norm(imgpoints[i], imgpoints2, cv2.NORM_L2)/len(imgpoints2)
+        tot_error += error
+    print(tot_error)
+    return mtx, dist
--- a/scripts/client.py
+++ b/scripts/client.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python2
 import sys
 import rospy
-from myCobotROS.srv import *
+from mycobot_ros.srv import *


 def test():
--- a/scripts/follow_display.py
+++ b/scripts/follow_display.py
@ -1,7 +1,6 @@
 #!/usr/bin/env python2
 # license removed for brevity
 import time
-import subprocess

 import rospy
 from sensor_msgs.msg import JointState
@ -12,9 +11,28 @@ 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(.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)
-    rospy.init_node('display', anonymous=True)
    rate = rospy.Rate(30)  # 30hz

    # pub joint state
@ -36,6 +54,7 @@ def talker():
    marker_.header.frame_id = '/joint1'
    marker_.ns = 'my_namespace'

+    print('publishing ...')
    while not rospy.is_shutdown():
        joint_state_send.header.stamp = rospy.Time.now()

@ -44,7 +63,7 @@ def talker():
        for index, value in enumerate(angles):
            data_list.append(value)

-        rospy.loginfo('{}'.format(data_list))
+        # rospy.loginfo('{}'.format(data_list))
        joint_state_send.position = data_list

        pub.publish(joint_state_send)
@ -77,9 +96,6 @@ def talker():


 if __name__ == '__main__':
-    port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
-                                   shell=True).decode()
-    mycobot = MyCobot(port)
    try:
        talker()
    except rospy.ROSInterruptException:
--- a/scripts/listen_real.py
+++ b/scripts/listen_real.py
@ -6,7 +6,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from myCobotROS.srv import GetAngles
+from mycobot_ros.srv import GetAngles


 def talker():
--- a/scripts/mycobot_services.py
+++ b/scripts/mycobot_services.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python2
 import time
 import rospy
-from myCobotROS.srv import *
+from mycobot_ros.srv import *

 from pymycobot.mycobot import MyCobot

@ -74,10 +74,8 @@ def get_coords(req):
 def switch_status(req):
    if mc:
        if req.Status:
-            print(1)
            mc.set_gripper_state(0, 80)
        else:
-            print(2)
            mc.set_gripper_state(1, 80)


--- a/scripts/slider_control.py
+++ b/scripts/slider_control.py
@ -9,11 +9,13 @@ 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 = []
-    print(data.position)
    for index, value in enumerate(data.position):
        data_list.append(value)

@ -22,19 +24,19 @@ def callback(data):


 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('sping ...')
    rospy.spin()


 if __name__ == '__main__':
-    print('sart')
-    port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
-                                   shell=True).decode()
-    print(port)
-    mc = MyCobot(port)
-    print(mc)
    listener()
--- a/scripts/sync_signal.py
+++ b/scripts/sync_signal.py
@ -0,0 +1,31 @@
+#!/usr/bin/env python2
+import time, subprocess
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+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():
+    rospy.init_node('mycobot_reciver', anonymous=True)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                    shell=True)
+    mc = MyCobot(port)
+    listener()
--- a/scripts/teleop_keyboard.py
+++ b/scripts/teleop_keyboard.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python
 from __future__ import print_function
-from myCobotROS.srv import (
+from mycobot_ros.srv import (
    GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus)
 import rospy
 import sys
@ -11,17 +11,19 @@ import copy
 import time

 import roslib
-roslib.load_manifest('myCobotROS')
+roslib.load_manifest('mycobot_ros')


 msg = """
 Mycobot Teleop Keyboard Controller
 ---------------------------
-Movimg options(control coord [x,y,z,rx,ry,rz]):
+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-)

@ -31,27 +33,29 @@ Gripper control:

 Other:
    1 - Go to init pose
-    2 -
-    3 -
+    2 - Go to home pose
+    3 - Resave home pose
    q - Quit
 """


-def getKey(key_timeout):
-    tty.setraw(sys.stdin.fileno())
-    rlist, _, _ = select.select([sys.stdin], [], [], key_timeout)
-    if rlist:
-        key = sys.stdin.read(1)
-    else:
-        key = ''
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-    return key
-
-
 def vels(speed, turn):
    return "currently:\tspeed %s\tchange size %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():
    global settings
    settings = termios.tcgetattr(sys.stdin)
@ -88,7 +92,7 @@ def teleop_keyboard():

    while True:
        res = get_coords()
-        if res.x > 5:
+        if res.x > 1:
            break
        time.sleep(.1)

@ -102,7 +106,9 @@ def teleop_keyboard():
        print(vels(speed, change_size))
        while(1):
            try:
-                key = getKey(key_timeout)
+                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']:
@ -158,14 +164,13 @@ def teleop_keyboard():
                    home_pose[5] = rep.joint_5
                else:
                    continue
+
            except Exception as e:
                # print(e)
                continue

    except Exception as e:
        print(e)
-    finally:
-        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)


 if __name__ == "__main__":
--- a/src/camera_display.cpp
+++ b/src/camera_display.cpp
@ -0,0 +1,30 @@
+#include <ros/ros.h>  
+#include <image_transport/image_transport.h>  
+#include <opencv2/highgui/highgui.hpp>  
+#include <cv_bridge/cv_bridge.h>  
+
+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");  
+
+}  
--- a/src/opencv_camera.cpp
+++ b/src/opencv_camera.cpp
@ -0,0 +1,60 @@
+#include <ros/ros.h>  
+#include <image_transport/image_transport.h>  
+#include <opencv2/highgui/highgui.hpp>  
+#include <cv_bridge/cv_bridge.h>  
+#include <sstream> // 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;
+    }
+    
+}  
--- a/urdf/mycobot_urdf.urdf
+++ b/urdf/mycobot_urdf.urdf
@ -8,7 +8,7 @@
    <visual>
      <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://myCobotROS/urdf/joint1.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint1.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
    </visual>
@ -17,7 +17,7 @@
  <link name="joint2">
    <visual>
      <geometry>
-       <mesh filename="package://myCobotROS/urdf/joint2.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
    </visual>
@ -28,7 +28,7 @@
    <visual>
      <geometry>
       
-       <mesh filename="package://myCobotROS/urdf/joint3.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </visual>
@ -39,7 +39,7 @@
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://myCobotROS/urdf/joint4.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </visual>
@ -52,7 +52,7 @@
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://myCobotROS/urdf/joint5.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
    </visual>
@ -63,7 +63,7 @@
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://myCobotROS/urdf/joint6.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint6.dae"/>
      </geometry>
    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
    </visual>
@ -74,7 +74,7 @@
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://myCobotROS/urdf/joint7.dae"/>
+       <mesh filename="package://mycobot_ros/urdf/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </visual>