From e11e0ac141fbd37b98011629875378f938e29424 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 8 Dec 2022 11:21:56 +0800
Subject: [PATCH] update aikit280 m5

---
 mycobot_280/mycobot_280/config/mycobot.rviz              | 9 +++++++++
 .../ai_mycobot_280/scripts/combine_detect_obj_color.py   | 4 ++--
 .../scripts/combine_detect_obj_img_folder_opt.py         | 4 ++--
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz
index 68ab389..6fe1018 100644
--- a/mycobot_280/mycobot_280/config/mycobot.rviz
+++ b/mycobot_280/mycobot_280/config/mycobot.rviz
@@ -8,6 +8,7 @@ Panels:
         - /Status1
         - /RobotModel1
         - /TF1
+        - /Marker1
       Splitter Ratio: 0.5
     Tree Height: 607
   - Class: rviz/Selection
@@ -147,6 +148,14 @@ Visualization Manager:
                       {}
       Update Interval: 0
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /cube
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
diff --git a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
index f29c73f..389a29a 100755
--- a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
@@ -51,8 +51,8 @@ class Object_detect(Movement):
             # self.Pin = [20, 21]
             self.Pin = [2, 5]
 
-            for i in self.move_coords:
-                i[2] -= 20
+            # for i in self.move_coords:
+            #     i[2] -= 20
         elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
             import RPi.GPIO as GPIO
             GPIO.setwarnings(False)
diff --git a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
index ee5ca7d..de5ca4a 100644
--- a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
@@ -61,8 +61,8 @@ class Object_detect(Movement):
             self.Pin = [2, 5]
         elif "dev" in self.robot_wio:
             self.Pin = [2, 5]
-            for i in self.move_coords:
-                i[2] -= 20
+            # for i in self.move_coords:
+            #     i[2] -= 20
         elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
             import RPi.GPIO as GPIO
             GPIO.setwarnings(False)