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修复280AR-mega2560 ros使用

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This commit is contained in:
wangWking 2024-09-05 15:45:05 +08:00
parent 308953e6c3
commit b52cff22d3
8 changed files with 150 additions and 78 deletions
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65
mycobot_280/mycobot_280arduino/config/mycobot_arduino.rviz
View file

@ -7,10 +7,9 @@ Panels:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 645
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -19,17 +18,18 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -41,7 +41,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -106,16 +106,40 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
{}
Update Interval: 0
Value: true
Enabled: true
@ -133,7 +157,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@ -143,33 +170,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 5.27731943
Distance: 1.539350986480713
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Near Clip Distance: 0.009999999776482582
Pitch: 0.6003978252410889
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Yaw: 5.470398426055908
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 926
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000018900000314fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000314000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000314fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000314000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000049b0000031400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000189000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000494000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -178,6 +205,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24
Width: 1848
X: 72
Y: 27

62
mycobot_280/mycobot_280arduino/scripts/follow_display.py
View file

@ -18,6 +18,7 @@ def talker():
print("port: {}, baud: {}\n".format(port, baud))
try:
mycobot = MyCobot(port, baud)
time.sleep(2) # open serial need wait
except Exception as e:
print(e)
print(
@ -29,7 +30,7 @@ def talker():
)
exit(1)
mycobot.release_all_servos()
time.sleep(0.1)
time.sleep(2)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
@ -56,44 +57,47 @@ def talker():
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
try:
angles = mycobot.get_radians()
data_list = []
for index, value in enumerate(angles):
data_list.append(value)
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
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
pub.publish(joint_state_send)
pub.publish(joint_state_send)
coords = mycobot.get_coords()
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
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 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_.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_)
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
rate.sleep()
except Exception as e:
pass
if __name__ == "__main__":

2
mycobot_280/mycobot_280arduino/scripts/simple_gui.py
View file

@ -385,6 +385,7 @@ class Window:
# print(c_value)
try:
self.set_coords(*c_value)
time.sleep(2)
except ServiceException:
pass
self.show_j_date(c_value[:-2], "coord")
@ -402,6 +403,7 @@ class Window:
try:
self.set_angles(*j_value)
time.sleep(2)
except ServiceException:
pass
self.show_j_date(j_value[:-1])

25
mycobot_280/mycobot_280arduino/scripts/slider_control.py
View file

@ -20,15 +20,14 @@ mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.send_angles(data_list, 25)
global latest_data
latest_data = [round(math.degrees(value), 2) for value in data.position]
rospy.loginfo(f"Joint angles: {latest_data}")
def control_loop(event):
if latest_data:
rospy.loginfo(f"Sending angles: {latest_data}")
mc.send_angles(latest_data, 25)
def listener():
global mc
@ -39,14 +38,14 @@ def listener():
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
time.sleep(0.05)
# mc.set_fresh_mode(1)
time.sleep(0.05)
time.sleep(2) # open port,need wait
# 启动定时器，每0.5秒执行一次控制循环
rospy.Timer(rospy.Duration(0.5), control_loop)
# spin() simply keeps python from exiting until this node is stopped
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

3
mycobot_280/mycobot_280arduino/scripts/teleop_keyboard.py
View file

@ -84,9 +84,10 @@ def teleop_keyboard():
home_pose = [0, 8, -127, 40, 0, 0, speed]
# rsp = set_angles(*init_pose)
while True:
res = get_coords()
time.sleep(1)
print('res:', res)
if res.x > 1:
break
time.sleep(0.1)

40
mycobot_280/mycobot_280arduino/scripts/test.py Normal file
View file

@ -0,0 +1,40 @@
import time
from pymycobot.mycobot import MyCobot
from pymycobot import *
import time
import datetime
m = MyCobot('/dev/ttyUSB0', 115200)
time.sleep(2)
delay_time = 0.1
run_delay_time = 1
angles = [0,0,0,0,0,0]
coords = [0,0,0,0,0,0]
angle_loss_count = 0
coord_loss_count = 0
total_count = 0
send_angles = [[0,0,0,0,0,0], [0,0,0,0,20,20]]
sp = 50
# m = MyCobot("com64", 115200)
# time.sleep(2) #open port,need wait
# print(m.get_radians())
while 1:
for i in range(len(send_angles)) :
angles = m.get_angles()
if (angles is None):
angle_loss_count = angle_loss_count + 1
#angles = m.get_angles()
time.sleep(delay_time)
coords = m.get_coords()
if (coords is None):
coord_loss_count = coord_loss_count + 1
#coords = m.get_coords()
time.sleep(delay_time)
m.send_angles(send_angles[i], sp)
time.sleep(run_delay_time)
total_count = total_count + 1
now = datetime.datetime.now()
print(now, "angles, coords ", angles, coords, angle_loss_count, coord_loss_count, total_count)
time.sleep(delay_time)

30
mycobot_280/mycobot_280arduino_moveit/scripts/sync_plan.py
View file

@ -11,31 +11,29 @@ mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.send_angles(data_list, 25)
global latest_data
latest_data = [round(math.degrees(value), 2) for value in data.position]
rospy.loginfo(f"Joint angles: {latest_data}")
def control_loop(event):
if latest_data:
rospy.loginfo(f"Sending angles: {latest_data}")
mc.send_angles(latest_data, 25)
def listener():
global mc
rospy.init_node("mycobot_reciver", anonymous=True)
rospy.init_node("control_slider", anonymous=True)
port = rospy.get_param("~port", "/dev/ttyACM0")
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)
time.sleep(0.05)
# mc.set_fresh_mode(1)
time.sleep(0.05)
rospy.Subscriber("joint_states", JointState, callback)
time.sleep(2) # open port,need wait
# 启动定时器，每0.5秒执行一次控制循环
rospy.Timer(rospy.Duration(0.5), control_loop)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()

1
mycobot_communication/scripts/mycobot_services.py
View file

@ -57,6 +57,7 @@ def create_handle():
baud = rospy.get_param("~baud")
rospy.loginfo("%s,%s" % (port, baud))
mc = MyCobot(port, baud)
time.sleep(2) # open serial need wait
def create_services():