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fix and update

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This commit is contained in:
weijian 2022-09-16 14:26:42 +08:00
parent 1f63b51057
commit dc39836ce5
10 changed files with 30 additions and 31 deletions
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2
Mira/mira/scripts/listen_real.py
View file

@ -7,7 +7,7 @@ import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from mira_communication.srv import GetAngles
# from pymycobot.mypalletizer import MyPalletizer
from pymycobot.mira import Mira

4
Mira/mira/scripts/listen_real_of_topic.py
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@ -35,12 +35,12 @@ class Listener(object):
"joint1_to_base",
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
# "joint4_to_joint3",
# "joint5_to_joint4",
# "joint6_to_joint5",
# "joint6output_to_joint6",
]
joint_state_send.velocity = [0]
joint_state_send.velocity = [0.0]
joint_state_send.effort = []
joint_state_send.header.stamp = rospy.Time.now()

4
Mira/mira/scripts/simple_gui.py
View file

@ -276,7 +276,7 @@ class Window:
# c_value.append(self.model)
# print(c_value)
try:
self.set_coords(c_value[0], c_value[1], c_value[2], self.speed)
self.set_coords(c_value, self.speed)
except ServiceException:
pass
self.show_j_date(c_value[:-2], "coord")
@ -294,7 +294,7 @@ class Window:
j_value.append(self.speed)
try:
self.set_angles(j_value[0], j_value[1], j_value[2], self.speed)
self.set_angles(j_value, self.speed)
except ServiceException:
pass
self.show_j_date(j_value[:-1])

5
Mira/mira/scripts/slider_control.py
View file

@ -13,7 +13,6 @@ import time
import rospy
from sensor_msgs.msg import JointState
# from pymycobot.mycobot import MyCobot
from pymycobot.mira import Mira
import math
@ -28,7 +27,7 @@ def callback(data):
data_list.append(round(value,3))
print('data_list:',data_list)
ma.set_radians(data_list[0],data_list[1],data_list[2], 80)
ma.set_radians(data_list, 80)
# time.sleep(0.5)
@ -43,7 +42,7 @@ def listener():
ma = Mira(port, baud)
ma.power_on()
ma.go_zero()
# 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
print("spin ...")

7
Mira/mira/scripts/teleop_keyboard.py
View file

@ -1,6 +1,5 @@
#!/usr/bin/env python3
from __future__ import print_function
# from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
from mira_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy
import sys
@ -92,7 +91,7 @@ def teleop_keyboard():
break
time.sleep(0.1)
record_coords = [res.x, res.y, res.z, speed, model]
record_coords = [res.x, res.y, res.z, speed]
print(record_coords)
@ -131,10 +130,10 @@ def teleop_keyboard():
switch_gripper(False)
elif key == "1":
rsp = set_angles(*init_pose)
record_coords = [res.x, res.y, res.z, speed, model]
record_coords = [res.x, res.y, res.z, speed]
elif key in "2":
rsp = set_angles(*home_pose)
record_coords = [res.x, res.y, res.z, speed, model]
record_coords = [res.x, res.y, res.z, speed]
elif key in "3":
rep = get_angles()
home_pose[0] = rep.joint_1

4
Mira/mira_communication/msg/MiraPumpStatus.msg
View file

@ -1,3 +1,3 @@
bool Status
int8 Pin1
int8 Pin2
# int8 Pin1
# int8 Pin2

2
Mira/mira_communication/msg/MiraSetCoords.msg
View file

@ -6,4 +6,4 @@ float32 z
# float32 rz
int8 speed
int8 model
# int8 model

8
Mira/mira_communication/scripts/mira_services.py
View file

@ -47,7 +47,7 @@ def set_angles(req):
sp = req.speed
print('mira_services:',angles)
if ma:
ma.set_angles(angles[0], angles[1], angles[2], sp)
ma.set_angles(angles, sp)
return SetAnglesResponse(True)
@ -71,7 +71,7 @@ def set_coords(req):
# mod = req.model
print('mira_services:',coords)
if ma:
ma.set_coords(coords[0], coords[1], coords[2], sp)
ma.set_coords(coords, sp)
return SetCoordsResponse(True)
@ -89,9 +89,9 @@ def switch_status(req):
"""Gripper switch,夹爪开关"""
if ma:
if req.Status:
ma.set_gripper_state(0, 50)
ma.set_gripper_state(0)
else:
ma.set_gripper_state(1, 50)
ma.set_gripper_state(1)
return GripperStatusResponse(True)

23
Mira/mira_communication/scripts/mira_topics.py
View file

@ -8,8 +8,9 @@ import threading
import rospy
from pymycobot.mypalletizer import MyPalletizer
from pymycobot.mira import Mira
from mira_communication import(
from mira_communication.msg import(
MiraAngles,
MiraCoords,
MiraSetAngles,
@ -72,7 +73,7 @@ class MiraTopics(object):
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
rospy.loginfo("%s,%s" % (port, baud))
self.mc = MyPalletizer(port, baud)
self.mc = Mira(port, baud)
self.lock = threading.Lock()
def start(self):
@ -117,7 +118,7 @@ class MiraTopics(object):
ma.joint_1 = angles[0]
ma.joint_2 = angles[1]
ma.joint_3 = angles[2]
ma.joint_4 = angles[3]
# ma.joint_4 = angles[3]
# ma.joint_5 = angles[4]
# ma.joint_6 = angles[5]
pub.publish(ma)
@ -138,7 +139,7 @@ class MiraTopics(object):
ma.x = coords[0]
ma.y = coords[1]
ma.z = coords[2]
ma.rx = coords[3]
# ma.rx = coords[3]
# ma.ry = coords[4]
# ma.rz = coords[5]
pub.publish(ma)
@ -152,12 +153,12 @@ class MiraTopics(object):
data.joint_1,
data.joint_2,
data.joint_3,
data.joint_4,
# data.joint_4,
# data.joint_5,
# data.joint_6,
]
sp = int(data.speed)
self.mc.send_angles(angles, sp)
self.mc.set_angles(angles, sp)
sub = rospy.Subscriber(
"Mypal/angles_goal", MiraSetAngles, callback=callback
@ -167,11 +168,11 @@ class MiraTopics(object):
def sub_set_coords(self):
def callback(data):
# angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz]
angles = [data.x, data.y, data.z, data.rx]
angles = [data.x, data.y, data.z]
sp = int(data.speed)
model = int(data.model)
self.mc.send_coords(angles, sp, model)
# model = int(data.model)
self.mc.set_coords(angles, sp)
sub = rospy.Subscriber(
"Mypal/coords_goal", MiraSetCoords, callback=callback
@ -183,9 +184,9 @@ class MiraTopics(object):
"""订阅夹爪状态"""
def callback(data):
if data.Status:
self.mc.set_gripper_state(0, 80)
self.mc.set_gripper_state(0)
else:
self.mc.set_gripper_state(1, 80)
self.mc.set_gripper_state(1)
sub = rospy.Subscriber(
"Mypal/gripper_status", MiraGripperStatus, callback=callback

2
Mira/mira_moveit/scripts/sync_plan.py
View file

@ -15,7 +15,7 @@ def callback(data):
data_list.append(round(value,3))
print('data_list:',data_list)
ma.set_radians(data_list[0],data_list[1],data_list[2], 50)
ma.set_radians(data_list, 50)
# time.sleep(0.5)