kenaug74/mycobot_ros
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rename and improve.

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This commit is contained in:
张立军 2021-06-07 10:17:07 +08:00
parent dd9e9f950a
commit c0a2a5d7f4
3 changed files with 6 additions and 4 deletions
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0
launch/mycobot_detect_marker_with_services.launch → launch/mycobot_detect_marker_with_topic.launch
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2
scripts/detect_marker.py
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@ -69,7 +69,7 @@ class ImageConverter:
# Just process first one detected.
xyz = tvec[0, 0, :]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.01]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] -0.03]
euler = rvec[0, 0, :]
tf_change = tf.transformations.quaternion_from_euler(euler[0], euler[1], euler[2])

8
scripts/follow_and_pump.py
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@ -18,7 +18,7 @@ pump = MycobotPumpStatus()
x_offset = -20
y_offset = 20
z_offset = 120
z_offset = 110
flag = False
@ -98,7 +98,7 @@ def grippercallback(data):
time.sleep(2.5)
# down
for i in range(1,14):
for i in range(1,17):
pub_coords(x, y, z - i * 5,rx=-160, sp=10)
time.sleep(.1)
@ -117,12 +117,14 @@ def grippercallback(data):
pub_coords(39.4, -174.7, put_z ,-177.13, -4.13, -152.59,70,2)
time.sleep(1.5)
for i in range (1,7):
for i in range (1,8):
pub_coords(39.4, -174.7, put_z-i*5, -177.13, -4.13, -152.59,15,2)
time.sleep(.1)
pub_pump(False)
time.sleep(.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)