add script comment.

mycobot_280/scripts/detect_marker.py

@@ -27,6 +27,7 @@ class ImageConverter:
         )
         self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
         self.camera_matrix = None
+        # subscriber, listen wether has img come in.
         self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
 
     def callback(self, data):
@@ -36,6 +37,7 @@ class ImageConverter:
         pose to transforming.
         """
         try:
+            # trans `rgb` to `gbr` for opencv.
             cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
         except CvBridgeError as e:
             print(e)
@@ -43,6 +45,7 @@ class ImageConverter:
         focal_length = size[1]
         center = [size[1] / 2, size[0] / 2]
         if self.camera_matrix is None:
+            # calc the camera matrix, if don't have.
             self.camera_matrix = np.array(
                 [
                     [focal_length, 0, center[0]],
@@ -52,12 +55,18 @@ class ImageConverter:
                 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
-        )
+        # detect aruco marker.
+        ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
+        corners, ids = ret[0], ret[1]
+        # process marker data.
         if len(corners) > 0:
             if ids is not None:
                 # print('corners:', corners, 'ids:', ids)
+
+                # detect marker pose.
+                # argument:
+                #   marker corners
+                #   marker size (meter)
                 ret = cv.aruco.estimatePoseSingleMarkers(
                     corners, 0.05, self.camera_matrix, self.dist_coeffs
                 )
@@ -66,6 +75,7 @@ class ImageConverter:
 
                 print("rvec:", rvec, "tvec:", tvec)
 
+                # just select first one detected marker.
                 for i in range(rvec.shape[0]):
                     cv.aruco.drawDetectedMarkers(cv_image, corners)
                     cv.aruco.drawAxis(
@@ -77,16 +87,17 @@ class ImageConverter:
                         0.03,
                     )
 
-                # Just process first one detected.
                 xyz = tvec[0, 0, :]
                 xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
 
+                # get quaternion for ros.
                 euler = rvec[0, 0, :]
                 tf_change = tf.transformations.quaternion_from_euler(
                     euler[0], euler[1], euler[2]
                 )
                 print("tf_change:", tf_change)
 
+                # trans pose according [joint1]
                 self.br.sendTransform(
                     xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
                 )

mycobot_280/scripts/listen_real.py

@@ -30,14 +30,14 @@ def talker():
     joint_state_send.velocity = [0]
     joint_state_send.effort = []
 
+    # waiting util server `get_joint_angles` enable.
     rospy.loginfo("wait service")
     rospy.wait_for_service("get_joint_angles")
     func = rospy.ServiceProxy("get_joint_angles", GetAngles)
 
     rospy.loginfo("start loop ...")
     while not rospy.is_shutdown():
-        joint_state_send.header.stamp = rospy.Time.now()
-
+        # get real angles from server.
         res = func()
         if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
             continue
@@ -51,6 +51,8 @@ def talker():
         ]
         rospy.loginfo("res: {}".format(radians_list))
 
+        # publish angles.
+        joint_state_send.header.stamp = rospy.Time.now()
         joint_state_send.position = radians_list
         pub.publish(joint_state_send)
         rate.sleep()

mycobot_280/scripts/listen_real_of_topic.py

@@ -1,6 +1,4 @@
 #!/usr/bin/env python2
-# license removed for brevity
-import time
 import math
 
 import rospy
@@ -15,13 +13,19 @@ class Listener(object):
 
         rospy.loginfo("start ...")
         rospy.init_node("real_listener_1", anonymous=True)
+        # init publisher.
         self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+        # init subscriber.
         self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback)
-        rate = rospy.Rate(30)  # 30hz
         rospy.spin()
 
     def callback(self, data):
-        # pub joint state
+        """`mycobot/angles_real` subscriber callback method.
+
+        Args:
+            data (MycobotAngles): callback argument.
+        """
+        # ini publisher object.
         joint_state_send = JointState()
         joint_state_send.header = Header()
 
@@ -35,8 +39,9 @@ class Listener(object):
         ]
         joint_state_send.velocity = [0]
         joint_state_send.effort = []
-
         joint_state_send.header.stamp = rospy.Time.now()
+
+        # process callback data.
         radians_list = [
             data.joint_1 * (math.pi / 180),
             data.joint_2 * (math.pi / 180),
@@ -49,7 +54,6 @@ class Listener(object):
 
         joint_state_send.position = radians_list
         self.pub.publish(joint_state_send)
-        # rate.sleep()
 
 
 if __name__ == "__main__":

mycobot_280/scripts/slider_control.py

@@ -1,6 +1,13 @@
 #!/usr/bin/env python2
-# from std_msgs.msg import String
-import time
+
+"""[summary]
+This file obtains the joint angle of the manipulator in ROS,
+and then sends it directly to the real manipulator using `pymycobot` API.
+This file is [slider_control.launch] related script.
+Passable parameters:
+    port: serial prot string. Defaults is '/dev/ttyUSB0'
+    baud: serial prot baudrate. Defaults is 115200.
+"""
 
 import rospy
 from sensor_msgs.msg import JointState