diff --git a/mycobot_600/mycobot_600/CMakeLists.txt b/mycobot_600/mycobot_600/CMakeLists.txt new file mode 100644 index 0000000..9da2548 --- /dev/null +++ b/mycobot_600/mycobot_600/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mycobot_600) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + mycobot_description +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mycobot_600 +# CATKIN_DEPENDS mycobot_description +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mycobot_600.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mycobot_600_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_600.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mycobot_600/mycobot_600/LICENSE b/mycobot_600/mycobot_600/LICENSE new file mode 100644 index 0000000..b8468e6 --- /dev/null +++ b/mycobot_600/mycobot_600/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. diff --git a/mycobot_600/mycobot_600/config/mycobot_600.rviz b/mycobot_600/mycobot_600/config/mycobot_600.rviz new file mode 100644 index 0000000..145b7d8 --- /dev/null +++ b/mycobot_600/mycobot_600/config/mycobot_600.rviz @@ -0,0 +1,203 @@ +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: + 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 + link6: + 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 + link6: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + link1: + link2: + link3: + link4: + link5: + link6: + {} + 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: 2.0593462 + 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: 0.660398126 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.10539246 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/mycobot_600/mycobot_600/launch/mycobot_600_slider.launch b/mycobot_600/mycobot_600/launch/mycobot_600_slider.launch new file mode 100644 index 0000000..f7b6782 --- /dev/null +++ b/mycobot_600/mycobot_600/launch/mycobot_600_slider.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/mycobot_600/mycobot_600/package.xml b/mycobot_600/mycobot_600/package.xml new file mode 100644 index 0000000..a5b68fa --- /dev/null +++ b/mycobot_600/mycobot_600/package.xml @@ -0,0 +1,62 @@ + + + mycobot_600 + 0.0.0 + The mycobot_600 package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + mycobot_description + mycobot_description + mycobot_description + + + + + + + + diff --git a/mycobot_600/mycobot_600/scripts/slider_600.py b/mycobot_600/mycobot_600/scripts/slider_600.py new file mode 100644 index 0000000..097d118 --- /dev/null +++ b/mycobot_600/mycobot_600/scripts/slider_600.py @@ -0,0 +1,299 @@ +#!/usr/bin/python + +from socket import * +import math +import sys +import time +from multiprocessing import Lock + +import rospy +from sensor_msgs.msg import JointState + +global mc +mutex = Lock() + + +class ElephantRobot(object): + def __init__(self, host, port): + # setup connection + # 建立连接 + self.BUFFSIZE = 2048 + self.ADDR = (host, port) + self.tcp_client = socket(AF_INET, SOCK_STREAM) + + def start_client(self): + try: + self.tcp_client.connect(self.ADDR) + return "" + except error, e: + return e + + def stop_client(self): + self.tcp_client.close() + + def send_command(self, command): + with mutex: + self.tcp_client.send(command.encode()) + recv_data = self.tcp_client.recv(self.BUFFSIZE).decode() + res_str = str(recv_data) + print "recv = " + res_str + res_arr = res_str.split(":") + if len(res_arr) == 2: + return res_arr[1] + else: + return "" + + def string_to_coords(self, data): + data = data.replace("[", "") + data = data.replace("]", "") + data_arr = data.split(",") + if len(data_arr) == 6: + try: + coords_1 = float(data_arr[0]) + coords_2 = float(data_arr[1]) + coords_3 = float(data_arr[2]) + coords_4 = float(data_arr[3]) + coords_5 = float(data_arr[4]) + coords_6 = float(data_arr[5]) + coords = [coords_1, coords_2, coords_3, coords_4, coords_5, coords_6] + return coords + except: + return invalid_coords() + return invalid_coords() + + def string_to_double(self, data): + try: + val = float(data) + return val + except: + return -9999.99 + + def string_to_int(self, data): + try: + val = int(data) + return val + except: + return -9999 + + def invalid_coords(self): + coords = [-1, -2, -3, -4, -1, -1] + return coords + + def get_angles(self): + command = "get_angles()\n" + res = self.send_command(command) + return self.string_to_coords(res) + + def get_coords(self): + command = "get_coords()\n" + res = self.send_command(command) + return self.string_to_coords(res) + + def get_speed(self): + command = "get_speed()\n" + res = self.send_command(command) + return self.string_to_double(res) + + def power_on(self): + command = "power_on()\n" + res = self.send_command(command) + return True + + def power_off(self): + command = "power_off()\n" + res = self.send_command(command) + return True + + def check_running(self): + command = "check_running()\n" + res = self.send_command(command) + return res == "1" + + def state_check(self): + command = "state_check()\n" + res = self.send_command(command) + return res == "1" + + def program_open(self, file_path): + command = "program_open(" + file_path + ")\n" + res = self.send_command(command) + return self.string_to_int(res) + + def program_run(self, start_line): + """run program，运行程序""" + command = "program_run(" + str(start_line) + ")\n" + res = self.send_command(command) + return self.string_to_int(res) + + def read_next_error(self): + command = "read_next_error()\n" + res = self.send_command(command) + return res + + def write_coords(self, coords, speed): + """set coords,设置坐标""" + command = "set_coords(" + for item in coords: + command += str(item) + "," + command += str(speed) + ")\n" + self.send_command(command) + + def write_coord(self, axis, value, speed): + coords = self.get_coords() + if coords != self.invalid_coords(): + coords[axis] = value + self.write_coords(coords, speed) + + def write_angles(self, angles, speed): + """set angles,设置角度""" + command = "set_angles(" + for item in angles: + command += str(item) + "," + command += str(speed) + ")\n" + self.send_command(command) + + def write_angle(self, joint, value, speed): + angles = self.get_angles() + if angles != self.invalid_coords(): + angles[joint] = value + self.write_angles(angles, speed) + + def set_speed(self, percentage): + command = "set_speed(" + str(percentage) + ")\n" + self.send_command(command) + + def set_carte_torque_limit(self, axis_str, value): + command = "set_torque_limit(" + axis_str + "," + str(value) + ")\n" + self.send_command(command) + + def set_upside_down(self, up_down): + up = "1" + if up_down: + up = "0" + command = "set_upside_down(" + up + ")\n" + self.send_command(command) + + def set_payload(self, payload): + command = "set_speed(" + str(payload) + ")\n" + self.send_command(command) + + def state_on(self): + command = "state_on()\n" + self.send_command(command) + + def state_off(self): + command = "state_off()\n" + self.send_command(command) + + def task_stop(self): + command = "task_stop()\n" + self.send_command(command) + + def jog_angle(self, joint_str, direction, speed): + command = ( + "jog_angle(" + joint_str + "," + str(direction) + "," + str(speed) + ")\n" + ) + self.send_command(command) + + def jog_coord(self, axis_str, direction, speed): + command = ( + "jog_coord(" + axis_str + "," + str(direction) + "," + str(speed) + ")\n" + ) + self.send_command(command) + + def get_digital_in(self, pin_number): + command = "get_digital_in(" + str(pin_number) + ")\n" + self.send_command(command) + + def get_digital_out(self, pin_number): + command = "get_digital_out(" + str(pin_number) + ")\n" + self.send_command(command) + + def set_digital_out(self, pin_number, pin_signal): + command = "set_digital_out(" + str(pin_number) + "," + str(pin_signal) + ")\n" + self.send_command(command) + + def set_analog_out(self, pin_number, pin_signal): + command = "set_analog_out(" + str(pin_number) + "," + str(pin_signal) + ")\n" + self.send_command(command) + + def get_acceleration(self): + command = "get_acceleration()\n" + res = self.send_command(command) + return self.string_to_int(res) + + def set_acceleration(self, acceleration): + command = "set_acceleration(" + str(acceleration) + ")\n" + self.send_command(command) + + def command_wait_done(self): + command = "wait_command_done()\n" + self.send_command(command) + + def wait(self, seconds): + command = "wait(" + str(seconds) + ")\n" + self.send_command(command) + + def assign_variable(self, var_name, var_value): + command = 'assign_variable("' + str(var_name) + '",' + str(var_value) + ")\n" + self.send_command(command) + + def get_variable(self, var_name): + command = 'get_variable("' + str(var_name) + '")\n' + return self.send_command(command) + + +old_list = [] + + +def callback(data): + """callback function,回调函数""" + global old_list + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print ("position", data.position) + data_list = [] + for index, value in enumerate(data.position): + value = value * 180 / math.pi + data_list.append(value) + print ("data", data_list) + + if not old_list: + old_list = data_list + mc.write_angles(data_list, 1999) + elif old_list != data_list: + old_list = data_list + if mc.check_running(): + mc.task_stop() + time.sleep(0.05) + + mc.write_angles(data_list, 1999) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + ip = rospy.get_param("~ip", "192.168.10.169") + print (ip) + mc = ElephantRobot(ip, 5001) + # START CLIENT,启动客户端 + res = mc.start_client() + if res != "": + print res + sys.exit(1) + print ep.wait(5) + print mc.get_angles() + print mc.get_coords() + mc.set_speed(30) + print mc.get_speed() + + rospy.Subscriber("joint_states", JointState, callback) + + # 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 ("sping ...") + rospy.spin() + + +if __name__ == "__main__": + listener()