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optimize

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This commit is contained in:
wuchangji 2022-06-24 18:46:15 +08:00
parent 522a58a09c
commit cda8898990
3 changed files with 24 additions and 21 deletions
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38
mypalletizer_260/mypalletizer_260_pi/config/mypal_260_pi.rviz
View file

@ -7,10 +7,9 @@ Panels:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /RobotModel1 - /RobotModel1
- /RobotModel1/Status1
- /TF1 - /TF1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 645 Tree Height: 601
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -19,7 +18,7 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
@ -30,6 +29,8 @@ Panels:
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -41,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -116,7 +117,7 @@ Visualization Manager:
Value: true Value: true
link5: link5:
Value: true Value: true
Marker Scale: 0.300000012 Marker Scale: 0.30000001192092896
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -146,7 +147,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -156,33 +160,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.20289087 Distance: 1.2028908729553223
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0 X: 0
Y: 0 Y: 0
Z: 0.107583851 Z: 0.10758385062217712
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.300398558 Pitch: 0.42039862275123596
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 1.56040955 Yaw: 1.1754094362258911
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 926 Height: 892
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000314fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000314000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000314fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000314000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000031400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002e2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a4000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002e2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006200000003efc0100000002fb0000000800540069006d00650100000000000006200000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000306000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -191,6 +195,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1568
X: 65 X: 144
Y: 24 Y: 41

1
mypalletizer_260/mypalletizer_260_pi/scripts/listen_real.py
View file

@ -7,7 +7,6 @@ import math
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from std_msgs.msg import Header from std_msgs.msg import Header
# from mycobot_communication.srv import GetAngles
from mypalletizer_communication.srv import GetAngles from mypalletizer_communication.srv import GetAngles
# from pymycobot.mypalletizer import MyPalletizer # from pymycobot.mypalletizer import MyPalletizer

6
mypalletizer_260/mypalletizer_260_pi/scripts/listen_real_of_topic.py Normal file → Executable file
View file

@ -5,7 +5,6 @@ import math
import rospy import rospy
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from std_msgs.msg import Header from std_msgs.msg import Header
# from mycobot_communication.msg import MycobotAngles
from mypalletizer_communication.msg import MypalAngles from mypalletizer_communication.msg import MypalAngles
@ -22,10 +21,10 @@ class Listener(object):
rospy.spin() rospy.spin()
def callback(self, data): def callback(self, data):
"""`mycobot/angles_real` subscriber callback method. """`mypal260pi/angles_real` subscriber callback method.
Args: Args:
data (MycobotAngles): callback argument. data (mypal260piAngles): callback argument.
""" """
# ini publisher object. # ini publisher object.
# 初始化发布者对象 # 初始化发布者对象
@ -50,6 +49,7 @@ class Listener(object):
data.joint_1 * (math.pi / 180), data.joint_1 * (math.pi / 180),
data.joint_2 * (math.pi / 180), data.joint_2 * (math.pi / 180),
data.joint_3 * (math.pi / 180), data.joint_3 * (math.pi / 180),
0,
data.joint_4 * (math.pi / 180), data.joint_4 * (math.pi / 180),
# data.joint_5 * (math.pi / 180), # data.joint_5 * (math.pi / 180),
# data.joint_6 * (math.pi / 180), # data.joint_6 * (math.pi / 180),