mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
optimize
This commit is contained in:
wuchangji
parent
522a58a09c
commit
cda8898990
3 changed files with 24 additions and 21 deletions
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@ -7,10 +7,9 @@ Panels:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Status1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 645
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Tree Height: 601
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -19,7 +18,7 @@ Panels:
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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@ -30,6 +29,8 @@ Panels:
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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@ -41,7 +42,7 @@ Visualization Manager:
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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@ -116,7 +117,7 @@ Visualization Manager:
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Value: true
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link5:
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Value: true
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Marker Scale: 0.300000012
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Marker Scale: 0.30000001192092896
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Name: TF
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Show Arrows: true
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Show Axes: true
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@ -146,7 +147,10 @@ Visualization Manager:
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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@ -156,33 +160,33 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.20289087
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Distance: 1.2028908729553223
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0.107583851
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Z: 0.10758385062217712
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.300398558
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.42039862275123596
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 1.56040955
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Yaw: 1.1754094362258911
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 926
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Height: 892
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000314fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000314000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000314fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000314000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000031400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002e2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a4000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002e2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006200000003efc0100000002fb0000000800540069006d00650100000000000006200000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000306000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@ -191,6 +195,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1855
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X: 65
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Y: 24
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Width: 1568
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X: 144
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Y: 41
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@ -7,7 +7,6 @@ import math
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import rospy
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from sensor_msgs.msg import JointState
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from std_msgs.msg import Header
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# from mycobot_communication.srv import GetAngles
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from mypalletizer_communication.srv import GetAngles
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# from pymycobot.mypalletizer import MyPalletizer
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6
mypalletizer_260/mypalletizer_260_pi/scripts/listen_real_of_topic.py
Normal file → Executable file
6
mypalletizer_260/mypalletizer_260_pi/scripts/listen_real_of_topic.py
Normal file → Executable file
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@ -5,7 +5,6 @@ import math
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import rospy
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from sensor_msgs.msg import JointState
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from std_msgs.msg import Header
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# from mycobot_communication.msg import MycobotAngles
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from mypalletizer_communication.msg import MypalAngles
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@ -22,10 +21,10 @@ class Listener(object):
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rospy.spin()
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def callback(self, data):
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"""`mycobot/angles_real` subscriber callback method.
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"""`mypal260pi/angles_real` subscriber callback method.
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Args:
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data (MycobotAngles): callback argument.
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data (mypal260piAngles): callback argument.
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"""
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# ini publisher object.
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# 初始化发布者对象
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@ -50,6 +49,7 @@ class Listener(object):
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data.joint_1 * (math.pi / 180),
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data.joint_2 * (math.pi / 180),
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data.joint_3 * (math.pi / 180),
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0,
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data.joint_4 * (math.pi / 180),
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# data.joint_5 * (math.pi / 180),
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# data.joint_6 * (math.pi / 180),
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