diff --git a/CobotX/cobotx_a450/launch/simple_gui.launch b/CobotX/cobotx_a450/launch/simple_gui.launch index 188e076..612a126 100755 --- a/CobotX/cobotx_a450/launch/simple_gui.launch +++ b/CobotX/cobotx_a450/launch/simple_gui.launch @@ -1,6 +1,6 @@ - + diff --git a/CobotX/cobotx_a450/launch/teleop_keyboard.launch b/CobotX/cobotx_a450/launch/teleop_keyboard.launch index c836dd4..e9149df 100755 --- a/CobotX/cobotx_a450/launch/teleop_keyboard.launch +++ b/CobotX/cobotx_a450/launch/teleop_keyboard.launch @@ -1,6 +1,6 @@ - + diff --git a/CobotX/cobotx_a450/scripts/follow_display.py b/CobotX/cobotx_a450/scripts/follow_display.py index 4cb34d1..57136d8 100755 --- a/CobotX/cobotx_a450/scripts/follow_display.py +++ b/CobotX/cobotx_a450/scripts/follow_display.py @@ -13,7 +13,7 @@ def talker(): rospy.init_node("display", anonymous=True) print("Try connect real CobotX...") - port = rospy.get_param("~port", "/dev/ttyAMA0") + port = rospy.get_param("~port", "/dev/ttyAMA1") baud = rospy.get_param("~baud", 115200) print("port: {}, baud: {}\n".format(port, baud)) try: diff --git a/CobotX/cobotx_a450/scripts/slider_control.py b/CobotX/cobotx_a450/scripts/slider_control.py index 2cac789..3e328dc 100755 --- a/CobotX/cobotx_a450/scripts/slider_control.py +++ b/CobotX/cobotx_a450/scripts/slider_control.py @@ -5,7 +5,7 @@ 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' + port: serial prot string. Defaults is '/dev/ttyAMA1' baud: serial prot baudrate. Defaults is 115200. """ import math @@ -36,7 +36,7 @@ def listener(): rospy.init_node("control_slider", anonymous=True) rospy.Subscriber("joint_states", JointState, callback) - port = rospy.get_param("~port", "/dev/ttyAMA0") + port = rospy.get_param("~port", "/dev/ttyAMA1") baud = rospy.get_param("~baud", 115200) print(port, baud) mc = CobotX(port, baud) diff --git a/CobotX/cobotx_a450/scripts/teleop_keyboard.py b/CobotX/cobotx_a450/scripts/teleop_keyboard.py index e093e9b..033f4a8 100755 --- a/CobotX/cobotx_a450/scripts/teleop_keyboard.py +++ b/CobotX/cobotx_a450/scripts/teleop_keyboard.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 from __future__ import print_function from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus import rospy diff --git a/CobotX/cobotx_a450_communication/launch/communication_service.launch b/CobotX/cobotx_a450_communication/launch/communication_service.launch index c086484..bec629d 100755 --- a/CobotX/cobotx_a450_communication/launch/communication_service.launch +++ b/CobotX/cobotx_a450_communication/launch/communication_service.launch @@ -1,7 +1,7 @@ - + diff --git a/CobotX/cobotx_a450_communication/launch/communication_topic.launch b/CobotX/cobotx_a450_communication/launch/communication_topic.launch index 07ae549..5889f17 100755 --- a/CobotX/cobotx_a450_communication/launch/communication_topic.launch +++ b/CobotX/cobotx_a450_communication/launch/communication_topic.launch @@ -1,6 +1,6 @@ - + diff --git a/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch b/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch index 9b43b9f..a7c5a6d 100755 --- a/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch +++ b/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch @@ -1,6 +1,6 @@ - + diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py index 35324ad..79a1d62 100755 --- a/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py @@ -70,7 +70,8 @@ class CobotXTopics(object): rospy.init_node("cobotx_topics") rospy.loginfo("start ...") - port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + # port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + port = rospy.get_param("~port", "/dev/ttyAMA1") if not port: port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1]) baud = rospy.get_param("~baud", 115200) diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py index 0368721..eb245c6 100755 --- a/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py @@ -73,7 +73,8 @@ class CobotXTopics(object): rospy.init_node("cobotx_topics_pi") rospy.loginfo("start ...") # problem - port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + # port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + port = rospy.get_param("~port", "/dev/ttyAMA1") baud = rospy.get_param("~baud", 115200) rospy.loginfo("%s,%s" % (port, baud)) self.mc = CobotX(port, baud) diff --git a/CobotX/cobotx_a450_moveit/scripts/sync_plan.py b/CobotX/cobotx_a450_moveit/scripts/sync_plan.py index b160cb9..70e880d 100755 --- a/CobotX/cobotx_a450_moveit/scripts/sync_plan.py +++ b/CobotX/cobotx_a450_moveit/scripts/sync_plan.py @@ -6,7 +6,7 @@ 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/ttyAMA0' + port: serial prot string. Defaults is '/dev/ttyAMA1' baud: serial prot baudrate. Defaults is 115200. """ import math @@ -37,7 +37,7 @@ def listener(): rospy.init_node("control_slider", anonymous=True) rospy.Subscriber("joint_states", JointState, callback) - port = rospy.get_param("~port", "/dev/ttyAMA0") + port = rospy.get_param("~port", "/dev/ttyAMA1") baud = rospy.get_param("~baud", 115200) print(port, baud) mc = CobotX(port, baud)