kenaug74/mycobot_ros
1
0
Fork 0
mirror of https://github.com/elephantrobotics/mycobot_ros.git synced 2026-07-05 19:47:04 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

update 320 moveit sync_plan.py

Browse source
This commit is contained in:
wangWking 2023-12-08 18:20:17 +08:00
parent e1fb985e11
commit b63b25e1b6
1 changed files with 11 additions and 7 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

18
mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py
View file

@ -1,6 +1,7 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import time
import math
import subprocess
import rospy
from sensor_msgs.msg import JointState
@ -12,14 +13,14 @@ mc = None
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", 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)
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data)
# mc.send_radians(data_list, 80)
mc.send_angles(data_list, 60)
def listener():
@ -34,7 +35,10 @@ def listener():
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
# rospy.spin()
rate = rospy.Rate(1)
while not rospy.is_shutdown():
rate.sleep()
if __name__ == "__main__":