kenaug74/mycobot_ros
1
0
Fork 0
mirror of https://github.com/elephantrobotics/mycobot_ros.git synced 2026-07-14 09:00:53 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

update mira ros1 moveit

Browse source
This commit is contained in:
weijian 2022-08-31 13:56:49 +08:00
parent 719251df86
commit c1e97e3fb1
2 changed files with 27 additions and 28 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
Mira/mira_moveit/launch/moveit.rviz
View file

@ -1,6 +1,6 @@
Panels: Panels:
- Class: rviz/Displays - Class: rviz/Displays
Help Height: 84 Help Height: 70
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
@ -10,9 +10,8 @@ Panels:
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1 - /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
- /MotionPlanning1/Planned Path1/Links1
Splitter Ratio: 0.7425600290298462 Splitter Ratio: 0.7425600290298462
Tree Height: 184 Tree Height: 186
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -49,7 +48,7 @@ Visualization Manager:
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
@ -199,14 +198,14 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: -0.14020325243473053 Pitch: 0.08979679644107819
Target Frame: link1 Target Frame: link1
Yaw: 2.3235831260681152 Yaw: 2.2435832023620605
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 888 Height: 876
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -215,7 +214,7 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000031efc0200000007fb000000100044006900730070006c006100790073010000003d00000149000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000018c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d3000001880000017d00ffffff0000053f0000031e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1848 Width: 1848

38
Mira/mira_moveit/scripts/sync_plan.py
View file

@ -1,39 +1,39 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import time
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from pymycobot.mira import Mira
# from pymycobot.mycobot import MyCobot
from pymycobot.mypalletizer import MyPalletizer
mc = None ma = None
def callback(data): def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", data) rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
# print(data.position)
data_list = [] data_list = []
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
# if index != 2: data_list.append(round(value,3))
# value *= -1
data_list.append(value) print('data_list:',data_list)
# print("data_list:",data_list) ma.set_radians(data_list[0],data_list[1],data_list[2], 50)
mc.send_radians(data_list, 80) # time.sleep(0.5)
def listener(): def listener():
global mc global ma
rospy.init_node("mypal_reciver", anonymous=True) rospy.init_node("control_slider", anonymous=True)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyPalletizer(port, baud)
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
baud = rospy.get_param("~baud", 115200)
print(port, baud)
ma = Mira(port, baud)
ma.power_on()
ma.go_zero()
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止 # spin() 只是阻止python退出，直到该节点停止
print("spin ...")
rospy.spin() rospy.spin()