mypalletizer260_pi ros adaption

mypalletizer_260/mypalletizer_260_pi/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(mypalletizer_260_pi)
+add_compile_options(-std=c++11)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  actionlib
+  image_transport
+  cv_bridge
+)
+
+## Declare a catkin package
+catkin_package(
+  CATKIN_DEPENDS std_msgs actionlib
+)
+
+## Build talker and listener
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+catkin_install_python(PROGRAMS
+  scripts/follow_display.py
+  scripts/slider_control.py
+  scripts/teleop_keyboard.py
+  scripts/listen_real.py
+  scripts/listen_real_of_topic.py
+  scripts/detect_marker.py
+  scripts/following_marker.py
+  scripts/follow_and_pump.py
+  scripts/simple_gui.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# find_package(OpenCV REQUIRED)
+# add_executable(opencv_camera src/opencv_camera)
+# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+# add_executable(camera_display src/camera_display)
+# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

mypalletizer_260/mypalletizer_260_pi/LICENSE

@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

mypalletizer_260/mypalletizer_260_pi/config/mycobot_with_marker.rviz

@@ -0,0 +1,216 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /Marker1
+        - /Marker1/Namespaces1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        joint1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        joint6_flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        basic_shapes:
+          Value: true
+        joint1:
+          Value: true
+        joint2:
+          Value: true
+        joint3:
+          Value: true
+        joint4:
+          Value: true
+        joint5:
+          Value: true
+        joint6:
+          Value: true
+        joint6_flange:
+          Value: true
+      Marker Scale: 0.300000012
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        joint1:
+          joint2:
+            joint3:
+              joint4:
+                joint5:
+                  joint6:
+                    joint6_flange:
+                      basic_shapes:
+                        {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /visualization_marker
+      Name: Marker
+      Namespaces:
+        basic_cube: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: joint1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.11990476
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0706475973
+        Y: -0.0814988762
+        Z: 0.107583851
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.375398338
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.235389769
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24

mypalletizer_260/mypalletizer_260_pi/config/mypal_260.rviz

@@ -0,0 +1,197 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand link Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+       
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base:
+          Value: true
+        link1:
+          Value: true
+        link2:
+          Value: true
+        link3:
+          Value: true
+        link4:
+          Value: true
+        link5:
+          Value: true
+        
+      Marker Scale: 0.300000012
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base:
+          link1:
+            link2:
+              link3:
+                link4:
+                  link5:
+                    {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.20289087
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0.107583851
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.440398335
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.430389732
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24

mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz

@@ -0,0 +1,195 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 645
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base:
+          Value: true
+        link1:
+          Value: true
+        link2:
+          Value: true
+        link3:
+          Value: true
+        link4:
+          Value: true
+        link5:
+          Value: true
+      Marker Scale: 0.300000012
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base:
+          link1:
+            link2:
+              link3:
+                link4:
+                  link5:
+                    {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.20289087
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0.107583851
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.120398536
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.79040861
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 926
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000314fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000314000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000314fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000314000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000031400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24

mypalletizer_260/mypalletizer_260_pi/launch/detect_marker.launch

@@ -0,0 +1,18 @@
+<launch>
+	<!-- Load file model ，加载文件模型-->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
+	<arg name="gui" default="true" />
+
+	<arg name="num" default="0" />
+
+    <include file="$(find mycobot_280)/launch/slider_control.launch">
+		<arg name="model" value="$(arg model)" />
+		<arg name="rvizconfig" value="$(arg rvizconfig)" />
+		<arg name="gui" value="$(arg gui)" />
+    </include>
+	<!-- vision node -->
+	<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
+	<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
+	<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/detect_marker_with_topic.launch

@@ -0,0 +1,31 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+	
+	<!-- Load file model ，加载文件模型-->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
+	<arg name="gui" default="false" />
+
+	<arg name="num" default="0" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到 TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+	<!-- mycobot-topics ,mycobot-话题-->
+    <include file="$(find mycobot_communication)/launch/communication_topic.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<!-- listen and pub the real angles，坚听并发布真实的角度 -->
+	<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
+	<!-- vision node -->
+	<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
+	<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
+	<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/follow.launch

@@ -0,0 +1,14 @@
+<launch>
+	<!-- Load file model .加载文件模型-->
+	<arg name="model" default="$(find mycobot_description)/urdf/260_pi/mypal_260_pi.urdf"/>
+	<arg name="rvizconfig" default="$(find mypalletizer_260_pi)/config/mypal_260_pi.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF .将值合并到 TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/simple_gui.launch

@@ -0,0 +1,24 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+	<!-- Load file model ，加载文件模型-->
+	<arg name="model" default="$(find mycobot_description)/urdf/260_pi/mypal_260_pi.urdf"/>
+	<arg name="rvizconfig" default="$(find mypalletizer_260_pi)/config/mypal_260_pi.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到 TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+	<!-- mycobot-topics, mycobot-话题-->
+    <include file="$(find mypalletizer_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<!-- listen and pub the real angles ，监听并发布真实角度-->
+	<node name="real_listener" pkg="mypalletizer_260_pi" type="listen_real.py" />
+	<node name="simple_gui" pkg="mypalletizer_260_pi" type="simple_gui.py" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/slider_control.launch

@@ -0,0 +1,25 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	
+	<!-- Load file model ，加载文件模型-->
+	<arg name="model" default="$(find mycobot_description)/urdf/260_pi/mypal_260_pi.urdf"/>
+	<arg name="rvizconfig" default="$(find mypalletizer_260_pi)/config/mypal_260_pi.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF， 将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz，显示在Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/teleop_keyboard.launch

@@ -0,0 +1,28 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<!-- Load file model ，加载文件模型-->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
+	<arg name="model" default="$(find mycobot_description)/urdf/260_pi/mypal_260_pi.urdf"/>
+	<arg name="rvizconfig" default="$(find mypalletizer_260_pi)/config/mypal_260_pi.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+	<!-- mycobot-topics，mycobot-话题 -->
+    <include file="$(find mypalletizer_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+
+	<!-- listen and pub the real angles ，监听并发布真实话题-->
+	<node name="real_listener" pkg="mypalletizer_260_pi" type="listen_real.py" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/launch/test.launch

@@ -0,0 +1,17 @@
+<launch>
+	<!-- Load file model，加载文件模型 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/260_pi/mypal_260_pi.urdf"/>
+	<arg name="rvizconfig" default="$(find mypalletizer_260_pi)/config/mypal_260_pi.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<param name="use_gui" value="$(arg gui)" />
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Show in Rviz.显示在Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mypalletizer_260/mypalletizer_260_pi/package.xml

@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mypalletizer_260_pi</name>
+  <version>0.0.0</version>
+  <description>The mypalletizer_260_pi package</description>
+
+ <author email="weijian.wang@elephantrobotics.com">wangweijian</author>
+  <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">https://github.com/elephantrobotics/mycobot_ros</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>mycobot_description</build_depend>
+  <build_depend>mypalletizer_communication</build_depend>
+
+  <build_export_depend>mypalletizer_communication</build_export_depend>
+  <build_export_depend>mycobot_description</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>python-tk</exec_depend>
+  <exec_depend>mycobot_description</exec_depend>
+  <exec_depend>mypalletizer_communication</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

mypalletizer_260/mypalletizer_260_pi/scripts/detect_marker.py

@@ -0,0 +1,124 @@
+#!/usr/bin/env python
+import rospy
+import cv2 as cv
+import numpy as np
+from cv_bridge import CvBridge, CvBridgeError
+from sensor_msgs.msg import Image
+import tf
+from tf.broadcaster import TransformBroadcaster
+import tf_conversions
+from mycobot_communication.srv import (
+    GetCoords,
+    SetCoords,
+    GetAngles,
+    SetAngles,
+    GripperStatus,
+)
+
+
+class ImageConverter:
+    def __init__(self):
+        self.br = TransformBroadcaster()
+        self.bridge = CvBridge()
+        self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
+        self.aruo_params = cv.aruco.DetectorParameters_create()
+        calibrationParams = cv.FileStorage(
+            "calibrationFileName.xml", cv.FILE_STORAGE_READ
+        )
+        self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
+        self.camera_matrix = None
+        # subscriber, listen wether has img come in. 订阅者，监听是否有img进来
+        self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
+
+    def callback(self, data):
+        """Callback function.
+
+        Process image with OpenCV, detect Mark to get the pose. Then acccording the
+        pose to transforming.
+        """
+        try:
+            # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
+            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+        except CvBridgeError as e:
+            print(e)
+        size = cv_image.shape
+        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. 如果没有就计算相机矩阵
+            self.camera_matrix = np.array(
+                [
+                    [focal_length, 0, center[0]],
+                    [0, focal_length, center[1]],
+                    [0, 0, 1],
+                ],
+                dtype=np.float32,
+            )
+        gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
+        # detect aruco marker. 检测 aruco 标记。
+        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. 检测标记姿势
+                # argument:
+                #   marker corners, 标记角
+                #   marker size (meter), 标记尺寸（米）
+                ret = cv.aruco.estimatePoseSingleMarkers(
+                    corners, 0.05, self.camera_matrix, self.dist_coeffs
+                )
+                (rvec, tvec) = (ret[0], ret[1])
+                (rvec - tvec).any()
+
+                print("rvec:", rvec, "tvec:", tvec)
+
+                # just select first one detected marker. 只需选择第一个检测到的标记
+                for i in range(rvec.shape[0]):
+                    cv.aruco.drawDetectedMarkers(cv_image, corners)
+                    cv.aruco.drawAxis(
+                        cv_image,
+                        self.camera_matrix,
+                        self.dist_coeffs,
+                        rvec[i, :, :],
+                        tvec[i, :, :],
+                        0.03,
+                    )
+
+                xyz = tvec[0, 0, :]
+                xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
+
+                # get quaternion for ros. 为ros获取四元数
+                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] 
+                # 根据 [joint1] 变换姿势
+                self.br.sendTransform(
+                    xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
+                )
+
+        # [x, y, z, -172, 3, -46.8]
+        cv.imshow("Image", cv_image)
+
+        cv.waitKey(3)
+        try:
+            pass
+        except CvBridgeError as e:
+            print(e)
+
+
+if __name__ == "__main__":
+    try:
+        rospy.init_node("detect_marker")
+        rospy.loginfo("Starting cv_bridge_test node")
+        ImageConverter()
+        rospy.spin()
+    except KeyboardInterrupt:
+        print("Shutting down cv_bridge_test node.")
+        cv.destroyAllWindows()

mypalletizer_260/mypalletizer_260_pi/scripts/follow_and_pump.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python2
+# coding:utf-8
+import rospy
+from visualization_msgs.msg import Marker
+import time
+import os
+
+# Type of message to communicate with mycobot 
+# 与 mycobot 通信的消息类型
+from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
+
+
+rospy.init_node("gipper_subscriber", anonymous=True)
+
+# Control the topic of mycobot, followed by angle, coordinates, gripper 
+# 控制mycobot的话题，依次是角度、坐标、夹爪
+angle_pub = rospy.Publisher("mycobot/angles_goal",
+                            MycobotSetAngles, queue_size=5)
+coord_pub = rospy.Publisher("mycobot/coords_goal",
+                            MycobotSetCoords, queue_size=5)
+# Judging device: ttyUSB* is M5；ttyACM* is wio 
+# 判断设备：ttyUSB*为M5；ttyACM*为wio
+robot = os.popen("ls /dev/ttyUSB*").readline()
+
+if "dev" in robot:
+    Pin = [2, 5]
+else:
+    Pin = [20, 21]
+
+pump_pub = rospy.Publisher("mycobot/pump_status",
+                           MycobotPumpStatus, queue_size=5)
+
+# Instantiate the message object. 实例化消息对象
+angles = MycobotSetAngles()
+coords = MycobotSetCoords()
+pump = MycobotPumpStatus()
+
+# Deviation value from the real position of mycobot 
+# 与mycobot真实位置的偏差值
+x_offset = -20
+y_offset = 20
+z_offset = 110
+
+# With this variable limit, the fetching behavior is only done once
+#  使用此变量限制，抓取行为仅执行一次
+flag = False
+
+# In order to compare whether the QR code moves later 
+# 为了比较二维码后面是否移动
+temp_x = temp_y = temp_z = 0.0
+
+temp_time = time.time()
+
+
+def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
+    """Post coordinates 发布坐标"""
+    coords.x = x
+    coords.y = y
+    coords.z = z
+    coords.rx = rx
+    coords.ry = ry
+    coords.rz = rz
+    coords.speed = 70
+    coords.model = m
+    # print(coords)
+    coord_pub.publish(coords)
+
+
+def pub_angles(a, b, c, d, e, f, sp):
+    """Publishing angle. 发布角度"""
+    angles.joint_1 = float(a)
+    angles.joint_2 = float(b)
+    angles.joint_3 = float(c)
+    angles.joint_4 = float(d)
+    angles.joint_5 = float(e)
+    angles.joint_6 = float(f)
+    angles.speed = sp
+    angle_pub.publish(angles)
+
+
+def pub_pump(flag, Pin):
+    """Publish gripper status. 发布夹爪状态"""
+    pump.Status = flag
+    pump.Pin1 = Pin[0]
+    pump.Pin2 = Pin[1]
+    pump_pub.publish(pump)
+
+
+def target_is_moving(x, y, z):
+    """Determine whether the target moves. 判断目标是否移动"""
+    count = 0
+    for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
+        print(o, n)
+        if abs(o - n) < 2:
+            count += 1
+    print(count)
+    if count == 3:
+        return False
+    return True
+
+
+def grippercallback(data):
+    """callback function. 回调函数"""
+    global flag, temp_x, temp_y, temp_z
+    # rospy.loginfo('gripper_subscriber get date :%s', data)
+    if flag:
+        return
+
+    # Parse out the coordinate value. 解析出坐标值
+    # pump length: 88mm
+    x = float(format(data.pose.position.x * 1000, ".2f"))
+    y = float(format(data.pose.position.y * 1000, ".2f"))
+    z = float(format(data.pose.position.z * 1000, ".2f"))
+
+    # When the running time is less than 30s, or the target position is still changing, perform tracking behavior
+    # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
+    if (
+        time.time() - temp_time < 30
+        or (temp_x == temp_y == temp_z == 0.0)
+        or target_is_moving(x - x_offset, y - y_offset, z)
+    ):
+
+        x -= x_offset
+        y -= y_offset
+        pub_coords(x - 20, y, 280)
+        time.sleep(0.1)
+
+        temp_x, temp_y, temp_z = x, y, z
+        return
+    else:  # Indicates that the target is in a stationary state and can be attempted to grab. 表示目标处于静止状态，可以尝试抓取
+
+        print(x, y, z)
+
+        # detect heigth + pump height + limit height + offset
+        x += x_offset
+        y += y_offset
+        z = z + 88 + z_offset
+
+        pub_coords(x, y, z)
+        time.sleep(2.5)
+
+        # down
+        for i in range(1, 17):
+            pub_coords(x, y, z - i * 5, rx=-160, sp=10)
+            time.sleep(0.1)
+
+        time.sleep(2)
+
+        pub_pump(True, Pin)
+        # pump on
+
+        pub_coords(x, y, z + 20, -165)
+        time.sleep(1.5)
+
+        pub_angles(0, 30, -50, -40, 0, 0, 50)
+        time.sleep(1.5)
+
+        put_z = 140
+        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, 8):
+            pub_coords(39.4, -174.7, put_z - i * 5, -
+                       177.13, -4.13, -152.59, 15, 2)
+            time.sleep(0.1)
+
+        pub_pump(False, Pin)
+
+        time.sleep(0.5)
+
+        pub_angles(0, 30, -50, -40, 0, 0, 50)
+        time.sleep(1.5)
+
+        # finally
+        flag = True
+
+
+def main():
+    for _ in range(10):
+        # pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
+        pub_angles(0, 30, -50, -40, 0, 0, 50)
+        # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
+        time.sleep(0.5)
+
+    pub_pump(False, Pin)
+    # time.sleep(2.5)
+
+    # subscribers to mark information, mark信息的订阅者
+    rospy.Subscriber("visualization_marker", Marker,
+                     grippercallback, queue_size=1)
+
+    print("gripper test")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    main()

mypalletizer_260/mypalletizer_260_pi/scripts/follow_display.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python2
+import time
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from visualization_msgs.msg import Marker
+
+
+from pymycobot.mypalletizer import MyPalletizer
+
+
+def talker():
+    rospy.init_node("display", anonymous=True)
+
+    print("Try connect real mypal...")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print("port: {}, baud: {}\n".format(port, baud))
+    try:
+        mypa = MyPalletizer(port, baud)
+    except Exception as e:
+        print(e)
+        print(
+            """\
+            \rTry connect mypalletizer failed!
+            \rPlease check wether connected with MyPalletizer.
+            \rPlease chckt wether the port or baud is right.
+        """
+        )
+        exit(1)
+    mypa.release_all_servos()
+    time.sleep(0.1)
+    print("Rlease all servos over.\n")
+
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state. 发布关节状态
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+
+        "joint1_to_base",
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+    ]
+    joint_state_send.velocity = [0]
+    joint_state_send.effort = []
+
+    marker_ = Marker()
+    marker_.header.frame_id = "/base"
+    marker_.ns = "my_namespace"
+
+    print("publishing ...")
+    while not rospy.is_shutdown():
+        joint_state_send.header.stamp = rospy.Time.now()
+
+        angles = mypa.get_radians()
+        data_list = []
+        for index, value in enumerate(angles):
+            data_list.append(value)
+
+        # rospy.loginfo('{}'.format(data_list))
+        joint_state_send.position = data_list
+        
+        data_list.insert(3,0.0)
+        print(joint_state_send.position)
+
+        pub.publish(joint_state_send)
+
+        coords = mypa.get_coords()
+
+        # marker
+        marker_.header.stamp = rospy.Time.now()
+        marker_.type = marker_.SPHERE
+        marker_.action = marker_.ADD
+        marker_.scale.x = 0.04
+        marker_.scale.y = 0.04
+        marker_.scale.z = 0.04
+
+        # marker position initial. 标记初始位置
+        # print(coords)
+        if not coords:
+            # coords = [0, 0, 0, 0, 0 ]
+            coords = [0, 0, 0, 0]
+
+            # rospy.loginfo("error [101]: can not get coord values")
+
+        marker_.pose.position.x = coords[1] / 1000 * -1
+        marker_.pose.position.y = coords[0] / 1000
+        marker_.pose.position.z = coords[2] / 1000
+
+        marker_.color.a = 1.0
+        marker_.color.g = 1.0
+        pub_marker.publish(marker_)
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass

mypalletizer_260/mypalletizer_260_pi/scripts/following_marker.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python2
+import time
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from visualization_msgs.msg import Marker
+import tf
+
+
+def talker():
+    rospy.init_node("following_marker", anonymous=True)
+
+    pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
+    rate = rospy.Rate(20)
+
+    listener = tf.TransformListener()
+
+    marker_ = Marker()
+    marker_.header.frame_id = "/joint1"
+    marker_.ns = "basic_cube"
+
+    print("publishing ...")
+    while not rospy.is_shutdown():
+        now = rospy.Time.now() - rospy.Duration(0.1)
+
+        try:
+            trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
+        except Exception as e:
+            print(e)
+            continue
+
+        print(type(trans), trans)
+        print(type(rot), rot)
+
+        # marker 标记
+        marker_.header.stamp = now
+        marker_.type = marker_.CUBE
+        marker_.action = marker_.ADD
+        marker_.scale.x = 0.04
+        marker_.scale.y = 0.04
+        marker_.scale.z = 0.04
+
+        # marker position initial. 标记初始位置
+        marker_.pose.position.x = trans[0]
+        marker_.pose.position.y = trans[1]
+        marker_.pose.position.z = trans[2]
+        marker_.pose.orientation.x = rot[0]
+        marker_.pose.orientation.y = rot[1]
+        marker_.pose.orientation.z = rot[2]
+        marker_.pose.orientation.w = rot[3]
+
+        marker_.color.a = 1.0
+        marker_.color.g = 1.0
+        pub_marker.publish(marker_)
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass

mypalletizer_260/mypalletizer_260_pi/scripts/listen_real.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python2
+# license removed for brevity
+import time
+import math
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+# from mycobot_communication.srv import GetAngles
+from mypalletizer_communication.srv import GetAngles
+# from pymycobot.mypalletizer import MyPalletizer
+
+
+def talker():
+    rospy.loginfo("start ...")
+    rospy.init_node("real_listener", anonymous=True)
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state 发布关节状态
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+        "joint1_to_base",
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+    ]
+    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():
+        # get real angles from server.
+        #  从服务获取真实的角度
+        res = func()
+        if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
+            continue
+        radians_list = [
+            res.joint_1 * (math.pi / 180),
+            res.joint_2 * (math.pi / 180),
+            res.joint_3 * (math.pi / 180),
+            0,
+            res.joint_4 * (math.pi / 180),
+
+        ]
+        rospy.loginfo("res: {}".format(radians_list))
+
+        # publish angles. 发布角度
+        joint_state_send.header.stamp = rospy.Time.now()
+        joint_state_send.position = radians_list
+        pub.publish(joint_state_send)
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass

mypalletizer_260/mypalletizer_260_pi/scripts/listen_real_of_topic.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python2
+import math
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+# from mycobot_communication.msg import MycobotAngles
+from mypalletizer_communication.msg import MypalAngles
+ 
+
+class Listener(object):
+    def __init__(self):
+        super(Listener, self).__init__()
+
+        rospy.loginfo("start ...")
+        rospy.init_node("real_listener_1", anonymous=True)
+        # init publisher. 初始化发布者
+        self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+        # init subscriber. 初始化订阅者
+        self.sub = rospy.Subscriber("mypal/angles_real", MypalAngles, self.callback)
+        rospy.spin()
+
+    def callback(self, data):
+        """`mycobot/angles_real` subscriber callback method.
+
+        Args:
+            data (MycobotAngles): callback argument.
+        """
+        # ini publisher object.
+        #  初始化发布者对象
+        joint_state_send = JointState()
+        joint_state_send.header = Header()
+
+        joint_state_send.name = [
+            "joint1_to_base",
+            "joint2_to_joint1",
+            "joint3_to_joint2",
+            "joint4_to_joint3",
+            "joint5_to_joint4",
+            # "joint6_to_joint5",
+            # "joint6output_to_joint6",
+        ]
+        joint_state_send.velocity = [0]
+        joint_state_send.effort = []
+        joint_state_send.header.stamp = rospy.Time.now()
+
+        # process callback data. 处理回调数据
+        radians_list = [
+            data.joint_1 * (math.pi / 180),
+            data.joint_2 * (math.pi / 180),
+            data.joint_3 * (math.pi / 180),
+            data.joint_4 * (math.pi / 180),
+            # data.joint_5 * (math.pi / 180),
+            # data.joint_6 * (math.pi / 180),
+        ]
+        rospy.loginfo("res: {}".format(radians_list))
+
+        joint_state_send.position = radians_list
+        self.pub.publish(joint_state_send)
+
+
+if __name__ == "__main__":
+    try:
+        Listener()
+    except rospy.ROSInterruptException:
+        pass

mypalletizer_260/mypalletizer_260_pi/scripts/simple_gui.py

@@ -0,0 +1,415 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import Tkinter as tk
+from mypalletizer_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+import rospy
+import time
+from rospy import ServiceException
+
+
+class Window:
+    def __init__(self, handle):
+        self.win = handle
+        self.win.resizable(0, 0)  # fixed window size 固定窗口大小 
+
+        self.model = 0
+        self.speed = rospy.get_param("~speed", 50)
+
+        # set default speed. 设置默认速度 
+        self.speed_d = tk.StringVar()
+        self.speed_d.set(str(self.speed))
+        # print(self.speed)
+        self.connect_ser()
+
+        # Get robotic arm data. 获取机械臂数据
+        self.record_coords = [0, 0, 0, 0,self.speed, self.model]
+        self.res_angles = [0, 0, 0, 0, self.speed, self.model]
+        self.get_date()
+
+        # get screen width and height. 获取屏幕宽度和高度
+        self.ws = self.win.winfo_screenwidth()  
+        self.hs = self.win.winfo_screenheight() 
+        # calculate x and y coordinates for the Tk root window
+        # 计算 Tk 根窗口的 x 和 y 坐标
+        x = (self.ws / 2) - 190
+        y = (self.hs / 2) - 250
+        self.win.geometry("430x350+{}+{}".format(x, y))
+        # layout. 布局
+        self.set_layout()
+        # input. 输入部分
+        self.need_input()
+        # show info. 展示部分
+        self.show_init()
+
+        # Set joint button. 设置关节按钮
+        tk.Button(self.frmLT, text="Set", width=5, command=self.get_joint_input).grid(
+            row=6, column=1, sticky="w", padx=3, pady=2
+        )
+
+        # Set Coordinate button. 设置坐标按钮
+        tk.Button(self.frmRT, text="Set", width=5, command=self.get_coord_input).grid(
+            row=6, column=1, sticky="w", padx=3, pady=2
+        )
+
+        # Gripper Switch. 夹爪开关按钮
+        tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid(
+            row=1, column=0, sticky="w", padx=3, pady=50
+        )
+        tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid(
+            row=1, column=1, sticky="w", padx=3, pady=2
+        )
+
+    def connect_ser(self):
+        rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
+
+        rospy.wait_for_service("get_joint_angles")
+        rospy.wait_for_service("set_joint_angles")
+        rospy.wait_for_service("get_joint_coords")
+        rospy.wait_for_service("set_joint_coords")
+        rospy.wait_for_service("switch_gripper_status")
+        try:
+            self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
+            self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
+            self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
+            self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
+            self.switch_gripper = rospy.ServiceProxy(
+                "switch_gripper_status", GripperStatus
+            )
+        except:
+            print("start error ...")
+            exit(1)
+
+        print("Connect service success.")
+
+    def set_layout(self):
+        self.frmLT = tk.Frame(width=200, height=200)
+        self.frmLC = tk.Frame(width=200, height=200)
+        self.frmLB = tk.Frame(width=200, height=200)
+        self.frmRT = tk.Frame(width=200, height=200)
+        self.frmLT.grid(row=0, column=0, padx=1, pady=3)
+        self.frmLC.grid(row=1, column=0, padx=1, pady=3)
+        self.frmLB.grid(row=1, column=1, padx=2, pady=3)
+        self.frmRT.grid(row=0, column=1, padx=2, pady=3)
+
+    def need_input(self):
+        # input hint. 输入提示 
+        tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
+        tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) 
+        tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
+        tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
+
+
+        tk.Label(self.frmRT, text=" x ").grid(row=0)
+        tk.Label(self.frmRT, text=" y ").grid(row=1)  
+        tk.Label(self.frmRT, text=" z ").grid(row=2)
+        tk.Label(self.frmRT, text=" rx ").grid(row=3)
+
+
+        # Set the default value of the input box. 
+        # 设置输入框的默认值
+        self.j1_default = tk.StringVar()
+        self.j1_default.set(self.res_angles[0])
+        self.j2_default = tk.StringVar()
+        self.j2_default.set(self.res_angles[1])
+        self.j3_default = tk.StringVar()
+        self.j3_default.set(self.res_angles[2])
+        self.j4_default = tk.StringVar()
+        self.j4_default.set(self.res_angles[3])
+
+
+        self.x_default = tk.StringVar()
+        self.x_default.set(self.record_coords[0])
+        self.y_default = tk.StringVar()
+        self.y_default.set(self.record_coords[1])
+        self.z_default = tk.StringVar()
+        self.z_default.set(self.record_coords[2])
+        self.rx_default = tk.StringVar()
+        self.rx_default.set(self.record_coords[3])
+
+
+        # joint input box. 输入框 
+        self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
+        self.J_1.grid(row=0, column=1, pady=3)
+        self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default)
+        self.J_2.grid(row=1, column=1, pady=3)
+        self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
+        self.J_3.grid(row=2, column=1, pady=3)
+        self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
+        self.J_4.grid(row=3, column=1, pady=3)
+ 
+
+        # coord input box. 输入框
+        self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
+        self.x.grid(row=0, column=1, pady=3, padx=0)
+        self.y = tk.Entry(self.frmRT, textvariable=self.y_default)
+        self.y.grid(row=1, column=1, pady=3)
+        self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
+        self.z.grid(row=2, column=1, pady=3)
+        self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
+        self.rx.grid(row=3, column=1, pady=3)
+
+
+        # All input boxes, used to get the input data. 所有输入框，用于拿输入的数据
+        self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4]
+        self.all_c = [self.x, self.y, self.z, self.rx]
+
+
+
+        # speed input box. 速度输入框 
+        tk.Label(
+            self.frmLB,
+            text="speed",
+        ).grid(row=0, column=0)
+        self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
+        self.get_speed.grid(row=0, column=1)
+
+    def show_init(self):
+        # display. 显示 
+        tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
+        tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) 
+        tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
+        tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
+ 
+        self.cont_1 = tk.StringVar(self.frmLC)
+        self.cont_1.set(str(self.res_angles[0]) + "°")
+        self.cont_2 = tk.StringVar(self.frmLC)
+        self.cont_2.set(str(self.res_angles[1]) + "°")
+        self.cont_3 = tk.StringVar(self.frmLC)
+        self.cont_3.set(str(self.res_angles[2]) + "°")
+        self.cont_4 = tk.StringVar(self.frmLC)
+        self.cont_4.set(str(self.res_angles[3]) + "°")
+  
+        self.cont_all = [
+            self.cont_1,
+            self.cont_2,
+            self.cont_3,
+            self.cont_4,
+            self.speed,
+            self.model,
+        ]
+
+        self.show_j1 = tk.Label(
+            self.frmLC,
+            textvariable=self.cont_1,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=0, column=1, padx=0, pady=5)
+
+        self.show_j2 = tk.Label(
+            self.frmLC,
+            textvariable=self.cont_2,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=1, column=1, padx=0, pady=5)
+        self.show_j3 = tk.Label(
+            self.frmLC,
+            textvariable=self.cont_3,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=2, column=1, padx=0, pady=5)
+        self.show_j4 = tk.Label(
+            self.frmLC,
+            textvariable=self.cont_4,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=3, column=1, padx=0, pady=5)
+
+        self.all_jo = [
+            self.show_j1,
+            self.show_j2,
+            self.show_j3,
+            self.show_j4,
+
+        ]
+
+        # display. 显示
+        tk.Label(self.frmLC, text="  x ").grid(row=0, column=3)
+        tk.Label(self.frmLC, text="  y ").grid(row=1, column=3)  # the second row. 第二行 
+        tk.Label(self.frmLC, text="  z ").grid(row=2, column=3)
+        tk.Label(self.frmLC, text="  rx ").grid(row=3, column=3)
+ 
+        self.coord_x = tk.StringVar()
+        self.coord_x.set(str(self.record_coords[0]))
+        self.coord_y = tk.StringVar()
+        self.coord_y.set(str(self.record_coords[1]))
+        self.coord_z = tk.StringVar()
+        self.coord_z.set(str(self.record_coords[2]))
+        self.coord_rx = tk.StringVar()
+        self.coord_rx.set(str(self.record_coords[3]))
+    
+
+        self.coord_all = [
+            self.coord_x,
+            self.coord_y,
+            self.coord_z,
+            self.coord_rx,
+            self.speed,
+            self.model,
+        ]
+
+        self.show_x = tk.Label(
+            self.frmLC,
+            textvariable=self.coord_x,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=0, column=4, padx=5, pady=5)
+        self.show_y = tk.Label(
+            self.frmLC,
+            textvariable=self.coord_y,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=1, column=4, padx=5, pady=5)
+        self.show_z = tk.Label(
+            self.frmLC,
+            textvariable=self.coord_z,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=2, column=4, padx=5, pady=5)
+        self.show_rx = tk.Label(
+            self.frmLC,
+            textvariable=self.coord_rx,
+            font=("Arial", 9),
+            width=7,
+            height=1,
+            bg="white",
+        ).grid(row=3, column=4, padx=5, pady=5)
+
+        # show label"mm" .mm 单位展示
+        self.unit = tk.StringVar()
+        self.unit.set("mm")
+        for i in range(4):
+            tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
+                row=i, column=5
+            )
+
+    def gripper_open(self):
+        try:
+            self.switch_gripper(True)
+        except ServiceException:
+            pass
+
+    def gripper_close(self):
+        try:
+            self.switch_gripper(False)
+        except ServiceException:
+            pass
+
+    def get_coord_input(self):
+        # Get the data input by coord and send it to the robotic arm 
+        # 获取 coord 输入的数据，发送给机械臂
+        c_value = []
+        for i in self.all_c:
+            # print(type(i.get()))
+            c_value.append(float(i.get()))
+        self.speed = (
+            int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
+        )
+        c_value.append(self.speed)
+        c_value.append(self.model)
+        # print(c_value)
+        try:
+            self.set_coords(*c_value)
+        except ServiceException:
+            pass
+        self.show_j_date(c_value[:-2], "coord")
+
+    def get_joint_input(self):
+        # Get the data of the joint and send it to the robotic arm 
+        # 获取joint输入的数据，发送给机械臂
+        j_value = []
+        for i in self.all_j:
+            # print(type(i.get()))
+            j_value.append(float(i.get()))
+        self.speed = (
+            int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
+        )
+        j_value.append(self.speed)
+
+        try:
+            self.set_angles(*j_value)
+        except ServiceException:
+            pass
+        self.show_j_date(j_value[:-1])
+        # return j_value,c_value,speed
+
+    def get_date(self):
+        # Get the data of robotic arm for display. 拿机械臂的数据，用于展示
+        t = time.time()
+        while time.time() - t < 2:
+            self.res = self.get_coords()
+
+            print(self.res)
+            
+            if self.res.x > 1:
+                break
+            time.sleep(0.1)
+
+        t = time.time()
+        while time.time() - t < 2:
+            self.angles = self.get_angles()
+            if self.angles.joint_1 > 1:
+                break
+            time.sleep(0.1)
+        # print(self.angles.joint_1)
+        self.record_coords = [
+            round(self.res.x, 2),
+            round(self.res.y, 2),
+            round(self.res.z, 2),
+            round(self.res.rx, 2),
+            self.speed,
+            self.model,
+        ]
+        self.res_angles = [
+            round(self.angles.joint_1, 2),
+            round(self.angles.joint_2, 2),
+            round(self.angles.joint_3, 2),
+            round(self.angles.joint_4, 2),
+        ]
+        # print('coord:',self.record_coords)
+        # print('angles:',self.res_angles)
+
+    # def send_input(self,dates):
+    def show_j_date(self, date, way=""):
+        # Show data. 展示数据
+        if way == "coord":
+            for i, j in zip(date, self.coord_all):
+                # print(i)
+                j.set(str(i))
+        else:
+            for i, j in zip(date, self.cont_all):
+                j.set(str(i) + "°")
+
+    def run(self):
+        while True:
+            try:
+                self.win.update()
+                time.sleep(0.001)
+            except tk.TclError as e:
+                if "application has been destroyed" in str(e):
+                    break
+                else:
+                    raise
+
+
+def main():
+    window = tk.Tk()
+    window.title("mycobot ros GUI")
+    Window(window).run()
+
+
+if __name__ == "__main__":
+    main()

mypalletizer_260/mypalletizer_260_pi/scripts/slider_control.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python2
+
+"""[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
+
+# from pymycobot.mycobot import MyCobot
+from pymycobot.mypalletizer import MyPalletizer
+
+
+mc = None
+
+
+def callback(data):
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    print(data.position)
+    data_list = []
+    for index, value in enumerate(data.position):
+        data_list.append(value)
+    del data_list[3] # delete the angle of joint3 to  joint4,because it do not exsist actually! 把joint3到joint4的角度删掉，因为它实际上不存在！
+    # data_list[3] = data_list[4]
+    # print(data_list)
+    mc.send_radians(data_list, 80)
+    # time.sleep(0.5)
+
+
+def listener():
+    global mc
+    rospy.init_node("control_slider", anonymous=True)
+
+    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)
+    mc = MyPalletizer(port, baud)
+
+    # 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
+    print("spin ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()

mypalletizer_260/mypalletizer_260_pi/scripts/teleop_keyboard.py

@@ -0,0 +1,165 @@
+#!/usr/bin/env python
+from __future__ import print_function
+# from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mypalletizer_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+import rospy
+import sys
+import select
+import termios
+import tty
+import time
+
+import roslib
+
+# Terminal output prompt information. 终端输出提示信息
+msg = """\
+Mypalletizer Teleop Keyboard Controller
+---------------------------
+Movimg options(control coordinations [x,y,z,rx]):
+              w(x+)
+
+    a(y-)     s(x-)     d(y+)
+
+        z(z-)       x(z+)
+
+        u(rx+)      i(rx-)
+   
+
+Gripper control:
+    g - open
+    h - close
+
+Other:
+    1 - Go to init pose
+    2 - Go to home pose
+    3 - Resave home pose
+    q - Quit
+"""
+
+
+def vels(speed, turn):
+    return "currently:\tspeed: %s\tchange percent: %s  " % (speed, turn)
+
+
+class Raw(object):
+    def __init__(self, stream):
+        self.stream = stream
+        self.fd = self.stream.fileno()
+
+    def __enter__(self):
+        self.original_stty = termios.tcgetattr(self.stream)
+        tty.setcbreak(self.stream)
+
+    def __exit__(self, type, value, traceback):
+        termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
+
+
+def teleop_keyboard():
+    rospy.init_node("teleop_keyboard")
+
+    model = 0
+    speed = rospy.get_param("~speed", 40)
+    change_percent = rospy.get_param("~change_percent", 5)
+
+    change_angle = 180 * change_percent / 100
+    change_len = 250 * change_percent / 100
+
+    rospy.wait_for_service("get_joint_angles")
+    rospy.wait_for_service("set_joint_angles")
+    rospy.wait_for_service("get_joint_coords")
+    rospy.wait_for_service("set_joint_coords")
+    rospy.wait_for_service("switch_gripper_status")
+    print("service ready.")
+    try:
+        get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
+        set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
+        get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
+        set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
+        switch_gripper = rospy.ServiceProxy(
+            "switch_gripper_status", GripperStatus)
+    except:
+        print("start error ...")
+        exit(1)
+
+
+    init_pose = [0, 0,0, 0, speed]
+    home_pose = [0,30, 30, 0,speed]
+
+    # rsp = set_angles(*init_pose)
+
+    while True:
+        res = get_coords()
+        if res.x > 1:
+            break
+        time.sleep(0.1)
+
+    record_coords = [res.x, res.y, res.z, res.rx, speed, model]
+
+    print(record_coords)
+
+    try:
+        print(msg)
+        print(vels(speed, change_percent))
+        # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
+        while 1:
+            try:
+                # print("\r current coords: %s" % record_coords, end="")
+                with Raw(sys.stdin):
+                    key = sys.stdin.read(1)
+                if key == "q":
+                    break
+                elif key in ["w", "W"]:
+                    record_coords[0] += change_len
+                    set_coords(*record_coords)
+                elif key in ["s", "S"]:
+                    record_coords[0] -= change_len
+                    set_coords(*record_coords)
+                elif key in ["a", "A"]:
+                    record_coords[1] -= change_len
+                    set_coords(*record_coords)
+                elif key in ["d", "D"]:
+                    record_coords[1] += change_len
+                    set_coords(*record_coords)
+                elif key in ["z", "Z"]:
+                    record_coords[2] -= change_len
+                    set_coords(*record_coords)
+                elif key in ["x", "X"]:
+                    record_coords[2] += change_len
+                    set_coords(*record_coords)
+                elif key in ["u", "U"]:
+                    record_coords[3] += change_angle
+                    set_coords(*record_coords)
+                elif key in ["i", "I"]:
+                    record_coords[3] -= change_angle
+                    set_coords(*record_coords)
+                elif key in ["g", "G"]:
+                    switch_gripper(True)
+                elif key in ["h", "H"]:
+                    switch_gripper(False)
+                elif key == "1":
+                    rsp = set_angles(*init_pose)
+                elif key in "2":
+                    rsp = set_angles(*home_pose)
+                elif key in "3":
+                    rep = get_angles()
+                    home_pose[0] = rep.joint_1
+                    home_pose[1] = rep.joint_2
+                    home_pose[2] = rep.joint_3
+                    home_pose[3] = rep.joint_4
+                    # home_pose[4] = rep.joint_5
+                else:
+                    continue
+
+            except Exception as e:
+                # print(e)
+                continue
+
+    except Exception as e:
+        print(e)
+
+
+if __name__ == "__main__":
+    try:
+        teleop_keyboard()
+    except rospy.ROSInterruptException:
+        pass