From c4a9a42c1386197d872ad9b6b715e8b995e15bca Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Nov 2023 17:26:12 +0800
Subject: [PATCH] fix ros 280m5 gripper display use

---
 mycobot_280/mycobot_280/launch/simple_gui_gripper.launch    | 6 +++++-
 .../mycobot_280/launch/teleop_keyboard_gripper.launch       | 6 +++++-
 mycobot_280/mycobot_280/scripts/detect_marker.py            | 0
 mycobot_280/mycobot_280/scripts/follow_and_pump.py          | 0
 mycobot_280/mycobot_280/scripts/follow_display.py           | 0
 mycobot_280/mycobot_280/scripts/follow_display_gripper.py   | 0
 mycobot_280/mycobot_280/scripts/following_marker.py         | 0
 mycobot_280/mycobot_280/scripts/listen_real_gripper.py      | 4 ++--
 mycobot_280/mycobot_280/scripts/simple_gui.py               | 0
 mycobot_280/mycobot_280/scripts/slider_control.py           | 0
 mycobot_280/mycobot_280/scripts/slider_control_gripper.py   | 0
 mycobot_280/mycobot_280/scripts/teleop_keyboard.py          | 0
 12 files changed, 12 insertions(+), 4 deletions(-)
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/detect_marker.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_and_pump.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_display.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_display_gripper.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/following_marker.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/simple_gui.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/slider_control.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/slider_control_gripper.py
 mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/teleop_keyboard.py

diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
index b85a138..3f49184 100644
--- a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
@@ -20,6 +20,10 @@
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
index 7c8b72b..6ca57bf 100644
--- a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
@@ -21,5 +21,9 @@
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 </launch>
diff --git a/mycobot_280/mycobot_280/scripts/detect_marker.py b/mycobot_280/mycobot_280/scripts/detect_marker.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_and_pump.py b/mycobot_280/mycobot_280/scripts/follow_and_pump.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_display.py b/mycobot_280/mycobot_280/scripts/follow_display.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_display_gripper.py b/mycobot_280/mycobot_280/scripts/follow_display_gripper.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/following_marker.py b/mycobot_280/mycobot_280/scripts/following_marker.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
index 1d6ed86..f3ac637 100755
--- a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
+++ b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
@@ -94,7 +94,7 @@ def talker():
             # print(f'error:{e}')
             print("--------------error",e)
     
-    rospy.loginfo("start loop ...")
+    # rospy.loginfo("start loop ...")
     while not rospy.is_shutdown():
         # get real angles from server.从服务器获得真实的角度。
         res = func()
@@ -116,7 +116,7 @@ def talker():
                 res.joint_6 * (math.pi / 180),
             ]
             radians_list.append(gripper_value)
-            rospy.loginfo("res: {}".format(radians_list))
+            # rospy.loginfo("res: {}".format(radians_list))
 
             # publish angles.发布角度
             joint_state_send.header.stamp = rospy.Time.now()
diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/slider_control.py b/mycobot_280/mycobot_280/scripts/slider_control.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py
old mode 100644
new mode 100755