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fix: #13 end rotation axis error

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zhangLijun 2021-03-22 15:01:23 +08:00
parent ed258d22c4
commit d9ef4d10bd
2 changed files with 6 additions and 4 deletions
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8
scripts/control_slider.py
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@ -9,12 +9,11 @@ from pymycobot.mycobot import MyCobot
def callback(data): def callback(data):
rospy.loginfo(rospy.get_caller_id() + "%s", data.position) #rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
# print(data.position) # print(data.position)
data_list = [] data_list = []
print(data.position)
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
if index != 2:
value *= -1
data_list.append(value) data_list.append(value)
mc.send_radians(data_list, 80) mc.send_radians(data_list, 80)
@ -29,7 +28,10 @@ def listener():
rospy.spin() rospy.spin()
if __name__ == '__main__': if __name__ == '__main__':
print('sart')
port = subprocess.check_output(['echo -n /dev/ttyUSB*'], port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
shell=True).decode() shell=True).decode()
print(port)
mc = MyCobot(port) mc = MyCobot(port)
print(mc)
listener() listener()

2
urdf/mycobot_urdf.urdf
View file

@ -124,7 +124,7 @@
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 1 0"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/> <parent link="joint6"/>
<child link="joint6_flange"/> <child link="joint6_flange"/>