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mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py

@@ -12,40 +12,44 @@ from tf.transformations import euler_from_quaternion, quaternion_from_euler
 
 class MoveItPlanningDemo:
     def __init__(self):
-        # 初始化move_group的API
+        # API to initialize move_group. 初始化move_group的API
         moveit_commander.roscpp_initialize(sys.argv)
 
-        # 初始化ROS节点
+        # Initialize the ROS node. 初始化ROS节点
         rospy.init_node("moveit_ik_demo")
 
+        # Initialize the scene object to listen for changes in the external environment
         # 初始化场景对象，用来监听外部环境的变化
         self.scene = moveit_commander.PlanningSceneInterface()
         rospy.sleep(1)
 
+        # Initialize self.arm group in the robotic arm that needs to be controlled by move group 
         # 初始化需要使用move group控制的机械臂中的self.arm group
         self.arm = moveit_commander.MoveGroupCommander("arm_group")
 
-        # 获取终端link的名称
+        # Get the name of the terminal link. 获取终端link的名称
         self.end_effector_link = self.arm.get_end_effector_link()
 
-        # 设置目标位置所使用的参考坐标系
+        # Set the reference coordinate system used for the target position. 设置目标位置所使用的参考坐标系
         self.reference_frame = "joint1"
         self.arm.set_pose_reference_frame(self.reference_frame)
 
-        # 当运动规划失败后，允许重新规划
+        # Allow replanning when motion planning fails. 当运动规划失败后，允许重新规划
         self.arm.allow_replanning(True)
 
-        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
+        # Set the allowable error of position (unit: meter) and attitude (unit: radian). 设置位置(单位：米)和姿态（单位：弧度）的允许误差
         self.arm.set_goal_position_tolerance(0.01)
         self.arm.set_goal_orientation_tolerance(0.05)
 
     def moving(self):
-        # # 控制机械臂先回到初始化位置
+        # Control the robotic arm to return to the initialization position first. 控制机械臂先回到初始化位置
         self.arm.set_named_target("init_pose")
         self.arm.go()
         rospy.sleep(2)
 
+        # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
         # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
+        # Pose is described by quaternion, based on base_link coordinate system 
         # 姿态使用四元数描述，基于base_link坐标系
         target_pose = PoseStamped()
         target_pose.header.frame_id = self.reference_frame
@@ -58,20 +62,20 @@ class MoveItPlanningDemo:
         target_pose.pose.orientation.z = 0.0
         target_pose.pose.orientation.w = 0.014
 
-        # 设置机器臂当前的状态作为运动初始状态
+        # Set the current state of the robot arm as the initial state of motion. 设置机器臂当前的状态作为运动初始状态
         self.arm.set_start_state_to_current_state()
 
-        # 设置机械臂终端运动的目标位姿
+        # Set the target pose of the terminal motion of the robotic arm. 设置机械臂终端运动的目标位姿
         self.arm.set_pose_target(target_pose, self.end_effector_link)
 
-        # 规划运动路径
         traj = self.arm.plan()
 
-        # 按照规划的运动路径控制机械臂运动
+        # Control the motion of the robotic arm according to the planned motion path. 按照规划的运动路径控制机械臂运动
         self.arm.execute(traj)
         rospy.sleep(1)
 
-        # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
+        # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
+        # 控制机械臂终端向右移动5cm 參数1是代表y， 0,1,2,3,4,5 代表xyzrpy
         self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
         self.arm.go()
         rospy.sleep(1)
@@ -80,7 +84,8 @@ class MoveItPlanningDemo:
         self.arm.go()
         rospy.sleep(1)
 
-        # 控制机械臂终端反向旋转90度  0,1,2,3,4,5 代表xyzrpy
+        # Control the end of the robotic arm to rotate 90 degrees in reverse, 0,1,2,3,4,5 represents xyzrpy
+        # 控制机械臂终端反向旋转90度,  0,1,2,3,4,5 代表xyzrpy
         # self.arm.shift_pose_target(3, -1.57, end_effector_link)
         # self.arm.go()
         # rospy.sleep(1)
@@ -88,10 +93,9 @@ class MoveItPlanningDemo:
     def run(self):
         self.scene.remove_world_object("suit")
 
-        # 没有障碍物运行一次
         self.moving()
 
-        # 添加环境
+        # Add the environment. 添加环境
         quat = quaternion_from_euler(3.1415, 0, -1.57)
 
         suit_post = PoseStamped()
@@ -112,10 +116,10 @@ class MoveItPlanningDemo:
         self.scene.add_mesh("suit", suit_post, suit_path)
         rospy.sleep(2)
 
-        # 有环境影响后在运行一次
+        # Run again if there is environmental impact. 有环境影响后再运行一次
         self.moving()
 
-        # 关闭并退出moveit
+        # Close and exit moveit. 关闭并退出moveit
         moveit_commander.roscpp_shutdown()
         moveit_commander.os._exit(0)
 

mypalletizer_260_moveit/scripts/sync_plan.py

@@ -32,7 +32,8 @@ def listener():
 
     rospy.Subscriber("joint_states", JointState, callback)
 
-    # spin() simply keeps python from exiting until this node is stopped
+    # 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
     rospy.spin()