mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
update mira gui
This commit is contained in:
weijian
parent
ebe619ca14
commit
e7bfd91695
16 changed files with 112 additions and 149 deletions
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@ -1,5 +1,5 @@
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#!/usr/bin/env python3
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# license removed for brevity
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# -*- coding: utf-8 -*-
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import time
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import math
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@ -8,8 +8,6 @@ from sensor_msgs.msg import JointState
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from std_msgs.msg import Header
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from mira_communication.srv import GetAngles
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from pymycobot.mira import Mira
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def talker():
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rospy.loginfo("start ...")
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@ -25,35 +23,39 @@ def talker():
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"joint1_to_base",
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"joint2_to_joint1",
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"joint3_to_joint2",
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# "joint4_to_joint3",
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# "joint5_to_joint4",
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]
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joint_state_send.velocity = [0.0]
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joint_state_send.velocity = [0]
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joint_state_send.effort = []
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# waiting util server `get_joint_angles` enable.
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rospy.loginfo("wait service")
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rospy.wait_for_service("get_joint_angles")
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func = rospy.ServiceProxy("get_joint_angles", GetAngles)
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# func = rospy.ServiceProxy("get_joint_angles", GetAngles)
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while True:
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try:
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func = rospy.ServiceProxy("get_joint_angles", GetAngles)
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break
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except rospy.ServiceException as e:
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print('service_error:', e)
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rospy.loginfo("start loop ...")
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while not rospy.is_shutdown():
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# get real angles from server.
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# 从服务获取真实的角度
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res = func()
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if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
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if (res == None) or (res.joint_1 == res.joint_2 == res.joint_3 == 0.0):
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continue
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radians_list = [
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res.joint_1 * (math.pi / 180),
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res.joint_2 * (math.pi / 180),
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res.joint_3 * (math.pi / 180),
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0,
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# res.joint_4 * (math.pi / 180),
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round(res.joint_1 * (math.pi / 180), 2),
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round(res.joint_2 * (math.pi / 180), 2),
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round(res.joint_3 * (math.pi / 180), 2),
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]
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rospy.loginfo("res: {}".format(radians_list))
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print('res:',res)
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# publish angles. 发布角度
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joint_state_send.header.stamp = rospy.Time.now()
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joint_state_send.position = radians_list
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@ -11,7 +11,7 @@ class Window:
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def __init__(self, handle):
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self.win = handle
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self.win.resizable(0, 0) # fixed window size 固定窗口大小
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# self.model = 0
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self.speed = rospy.get_param("~speed", 50)
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@ -22,8 +22,8 @@ class Window:
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self.connect_ser()
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# Get robotic arm data. 获取机械臂数据
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self.record_coords = [0, 0, 0, self.speed]
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self.res_angles = [0, 0, 0, self.speed]
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self.record_coords = [0.0, 0.0, 0.0, self.speed]
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self.res_angles = [0.0, 0.0, 0.0, self.speed]
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self.get_date()
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# get screen width and height. 获取屏幕宽度和高度
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@ -52,12 +52,12 @@ class Window:
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)
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# Gripper Switch. 夹爪开关按钮
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# tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid(
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# row=1, column=0, sticky="w", padx=3, pady=50
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# )
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# tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid(
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# row=1, column=1, sticky="w", padx=3, pady=2
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# )
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tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid(
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row=1, column=0, sticky="w", padx=3, pady=50
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)
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tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid(
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row=1, column=1, sticky="w", padx=3, pady=2
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)
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def connect_ser(self):
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rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
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@ -72,9 +72,9 @@ class Window:
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self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
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self.get_angles_info = rospy.ServiceProxy("get_joint_angles", GetAngles)
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self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
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# self.switch_gripper = rospy.ServiceProxy(
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# "switch_gripper_status", GripperStatus
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# )
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self.switch_gripper = rospy.ServiceProxy(
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"switch_gripper_status", GripperStatus
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)
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except:
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print("start error ...")
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exit(1)
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@ -97,12 +97,10 @@ class Window:
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tk.Label(self.frmLT, text="Joint 2 ").grid(row=1)
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tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
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tk.Label(self.frmRT, text=" x ").grid(row=0)
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tk.Label(self.frmRT, text=" y ").grid(row=1)
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tk.Label(self.frmRT, text=" z ").grid(row=2)
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# Set the default value of the input box.
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# 设置输入框的默认值
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self.j1_default = tk.StringVar()
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@ -112,8 +110,6 @@ class Window:
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self.j3_default = tk.StringVar()
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self.j3_default.set(self.res_angles[2])
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self.x_default = tk.StringVar()
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self.x_default.set(self.record_coords[0])
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self.y_default = tk.StringVar()
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@ -121,7 +117,6 @@ class Window:
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self.z_default = tk.StringVar()
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self.z_default.set(self.record_coords[2])
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# joint input box. 输入框
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self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
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self.J_1.grid(row=0, column=1, pady=3)
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@ -129,8 +124,6 @@ class Window:
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self.J_2.grid(row=1, column=1, pady=3)
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self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
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self.J_3.grid(row=2, column=1, pady=3)
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# coord input box. 输入框
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self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
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@ -139,15 +132,11 @@ class Window:
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self.y.grid(row=1, column=1, pady=3)
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self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
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self.z.grid(row=2, column=1, pady=3)
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# All input boxes, used to get the input data. 所有输入框，用于拿输入的数据
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self.all_j = [self.J_1, self.J_2, self.J_3]
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self.all_c = [self.x, self.y, self.z]
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# speed input box. 速度输入框
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tk.Label(
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self.frmLB,
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@ -169,7 +158,6 @@ class Window:
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self.cont_3 = tk.StringVar(self.frmLC)
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self.cont_3.set(str(self.res_angles[2]) + "°")
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self.cont_all = [
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self.cont_1,
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self.cont_2,
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@ -221,7 +209,6 @@ class Window:
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self.coord_z = tk.StringVar()
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self.coord_z.set(str(self.record_coords[2]))
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self.coord_all = [
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self.coord_x,
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self.coord_y,
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@ -261,6 +248,20 @@ class Window:
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tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
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row=i, column=5
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)
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def gripper_open(self):
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try:
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self.switch_gripper(True)
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except ServiceException:
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# Probably because the method has no return value, the service throws an unhandled error
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# 可能由于该方法没有返回值，服务抛出无法处理的错误
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pass
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def gripper_close(self):
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try:
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self.switch_gripper(False)
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except ServiceException:
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pass
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def get_coord_input(self):
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# Get the data input by coord and send it to the robotic arm
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@ -302,7 +303,7 @@ class Window:
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def get_date(self):
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# Get the data of robotic arm for display. 拿机械臂的数据，用于展示
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t = time.time()
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while time.time() - t < 2:
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while time.time() - t < 3:
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self.res = self.get_coords_info()
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print(self.res)
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@ -313,31 +314,26 @@ class Window:
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time.sleep(0.1)
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t = time.time()
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while time.time() - t < 2:
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while time.time() - t < 3:
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self.angles = self.get_angles_info()
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# if self.angles.joint_1 > 1:
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if self.angles != []:
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break
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time.sleep(0.1)
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# print(self.angles.joint_1)
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if self.res and self.angles != None:
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print('---------------->',self.res)
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self.record_coords = [
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round(self.res.x, 2),
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round(self.res.y, 2),
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round(self.res.z, 2),
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self.speed
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]
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# self.record_coords[0] = self.res[:3]
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# self.res_angles[0] = self.angles[:3]
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self.res_angles = [
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round(self.angles.joint_1, 2),
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round(self.angles.joint_2, 2),
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round(self.angles.joint_3, 2),
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if self.res and self.angles != None:
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self.record_coords = [
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round(self.res.x, 2),
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round(self.res.y, 2),
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round(self.res.z, 2),
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self.speed,
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]
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]
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# print('coord:',self.record_coords)
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# print('angles:',self.res_angles)
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self.res_angles = [
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round(self.angles.joint_1, 2),
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round(self.angles.joint_2, 2),
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round(self.angles.joint_3, 2),
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]
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# def send_input(self,dates):
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def show_j_date(self, date, way=""):
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@ -361,10 +357,9 @@ class Window:
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else:
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raise
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def main():
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window = tk.Tk()
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window.title("mycobot ros GUI")
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window.title("Mira ros GUI")
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Window(window).run()
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@ -4,7 +4,7 @@
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<!-- Open communication service -->
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<!-- <node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics.py" output="screen"> -->
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<node name="mira_services" pkg="mira_communication" type="mira_topics.py" output="screen">
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<node name="Mira_topics" pkg="mira_communication" type="mira_topics.py" output="screen">
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<param name="port" type="string" value="$(arg port)" />
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<param name="baud" type="int" value="$(arg baud)" />
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@ -1,7 +1,3 @@
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# float32 base
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float32 joint_1
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float32 joint_2
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float32 joint_3
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# float32 joint_4
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# float32 joint_5
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# float32 joint_6
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@ -1,6 +1,3 @@
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float32 x
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float32 y
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float32 z
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# float32 rx
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# float32 ry
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# float32 rz
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float32 z
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@ -1,3 +1,2 @@
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bool Status
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# int8 Pin1
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# int8 Pin2
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@ -1,9 +1,5 @@
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# float32 base
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float32 joint_1
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float32 joint_2
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float32 joint_3
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# float32 joint_4
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# float32 joint_5
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# float32 joint_6
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int8 speed
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@ -1,9 +1,6 @@
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float32 x
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float32 y
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float32 z
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# float32 rx
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# float32 ry
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# float32 rz
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int8 speed
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# int8 model
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@ -2,9 +2,7 @@
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# -*- coding: utf-8 -*-
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import time
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import rospy
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# from mycobot_communication.srv import *
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from mira_communication.srv import *
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from pymycobot.mira import Mira
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ma = None
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@ -23,8 +21,7 @@ def create_handle():
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ma.power_on()
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# calibrate the zero position of the robot arm
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ma.go_zero()
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time.sleep(5)
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# time.sleep(3)
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def create_services():
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@ -33,19 +30,19 @@ def create_services():
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rospy.Service("set_joint_coords", SetCoords, set_coords)
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rospy.Service("get_joint_coords", GetCoords, get_coords)
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rospy.Service("switch_gripper_status", GripperStatus, switch_status)
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# rospy.Service("switch_pump_status", PumpStatus, toggle_pump)
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rospy.Service("switch_pump_status", PumpStatus, toggle_pump)
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rospy.loginfo("ready")
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rospy.spin()
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def set_angles(req):
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"""set angles"""
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angles = [
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req.joint_1,
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req.joint_2,
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req.joint_3,
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]
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sp = req.speed
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print('mira_services:',angles)
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if ma:
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ma.set_angles(angles, sp)
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@ -53,12 +50,16 @@ def set_angles(req):
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def get_angles(req):
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if ma:
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angles = ma.get_angles_info()
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# angles = [0.0, 0.0, 0.0, 0.0]
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if angles != None:
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# print('angles:',angles)
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return GetAnglesResponse(*angles)
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count = 0
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while count < 10:
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if ma:
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angles = ma.get_angles_info()
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if angles != None:
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return GetAnglesResponse(*angles)
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count += 1
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continue
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else:
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return GetAnglesResponse(0.0, 0.0, 0.0)
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def set_coords(req):
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@ -68,8 +69,6 @@ def set_coords(req):
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req.z,
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]
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sp = req.speed
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# mod = req.model
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print('mira_services:',coords)
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if ma:
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ma.set_coords(coords, sp)
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@ -77,12 +76,17 @@ def set_coords(req):
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def get_coords(req):
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if ma:
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# coords = ma.get_coords_info()
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coords = [0.0, 0.0, 0.0]
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if coords != None:
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# print('coords:',coords)
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return GetCoordsResponse(*coords)
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count = 0
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while count < 10:
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if ma:
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coords = ma.get_coords_info()
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# coords = [176.0, 0.0, 120.0]
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if coords != None:
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return GetCoordsResponse(*coords)
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count += 1
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continue
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else:
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return GetCoordsResponse(176.0, 0.0, 120.0)
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def switch_status(req):
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@ -96,16 +100,14 @@ def switch_status(req):
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return GripperStatusResponse(True)
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# def toggle_pump(req):
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# if ma:
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# if req.Status:
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# ma.set_basic_output(req.Pin1, 0)
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# ma.set_basic_output(req.Pin2, 0)
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# else:
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# ma.set_basic_output(req.Pin1, 1)
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# ma.set_basic_output(req.Pin2, 1)
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def toggle_pump(req):
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if ma:
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if req.Status:
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ma.set_gpio_state(1)
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else:
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ma.set_gpio_state(0)
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# return PumpStatusResponse(True)
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return PumpStatusResponse(True)
|
||||
|
||||
|
||||
robot_msg = """
|
||||
|
|
@ -116,13 +118,16 @@ Joint Limit:
|
|||
joint 2: 0 ~ 90
|
||||
joint 3: 0 ~ 75
|
||||
|
||||
Coords Limit:
|
||||
x: 0 ~ 270
|
||||
y: 0 ~ 270
|
||||
z: 0 ~ 125
|
||||
|
||||
Connect Status: %s
|
||||
|
||||
Servo Infomation: %s
|
||||
|
||||
Servo Temperature: %s
|
||||
|
||||
Atom Version: %s
|
||||
"""
|
||||
|
||||
|
||||
|
|
@ -130,22 +135,15 @@ def output_robot_message():
|
|||
connect_status = False
|
||||
servo_infomation = "unknown"
|
||||
servo_temperature = "unknown"
|
||||
atom_version = "unknown"
|
||||
|
||||
if ma:
|
||||
# cn = ma.is_controller_connected()
|
||||
# if cn == 1:
|
||||
connect_status = True
|
||||
# time.sleep(0.1)
|
||||
# si = ma.is_all_servo_enable()
|
||||
# if si == 1:
|
||||
servo_infomation = "all connected"
|
||||
|
||||
print(
|
||||
robot_msg % (connect_status, servo_infomation,
|
||||
servo_temperature, atom_version)
|
||||
servo_temperature)
|
||||
)
|
||||
time.sleep(2)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
|
|
@ -74,6 +74,7 @@ class MiraTopics(object):
|
|||
baud = rospy.get_param("~baud", 115200)
|
||||
rospy.loginfo("%s,%s" % (port, baud))
|
||||
self.mc = Mira(port, baud)
|
||||
self.mc.go_zero()
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
|
|
@ -112,7 +113,7 @@ class MiraTopics(object):
|
|||
ma = MiraAngles()
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
angles = self.mc.get_angles()
|
||||
angles = self.mc.get_angles_info()
|
||||
self.lock.release()
|
||||
if angles:
|
||||
ma.joint_1 = angles[0]
|
||||
|
|
@ -133,7 +134,7 @@ class MiraTopics(object):
|
|||
|
||||
while not rospy.is_shutdown():
|
||||
self.lock.acquire()
|
||||
coords = self.mc.get_coords()
|
||||
coords = self.mc.get_coords_info()
|
||||
self.lock.release()
|
||||
if coords:
|
||||
ma.x = coords[0]
|
||||
|
|
@ -196,11 +197,9 @@ class MiraTopics(object):
|
|||
def sub_pump_status(self):
|
||||
def callback(data):
|
||||
if data.Status:
|
||||
self.mc.set_basic_output(data.Pin1, 0)
|
||||
self.mc.set_basic_output(data.Pin2, 0)
|
||||
self.mc.set_gpio_state(0)
|
||||
else:
|
||||
self.mc.set_basic_output(data.Pin1, 1)
|
||||
self.mc.set_basic_output(data.Pin2, 1)
|
||||
self.mc.set_gpio_state(1)
|
||||
|
||||
sub = rospy.Subscriber(
|
||||
"Mypal/pump_status", MiraPumpStatus, callback=callback
|
||||
|
|
|
|||
|
|
@ -8,7 +8,7 @@ import threading
|
|||
|
||||
import rospy
|
||||
|
||||
from mira_communication import (
|
||||
from mira_communication.msg import (
|
||||
MiraAngles,
|
||||
MiraCoords,
|
||||
MiraSetAngles,
|
||||
|
|
@ -16,7 +16,7 @@ from mira_communication import (
|
|||
MiraGripperStatus,
|
||||
MiraPumpStatus,
|
||||
)
|
||||
from pymycobot.mypalletizer import Mypalletizer
|
||||
from pymycobot.mira import Mira
|
||||
|
||||
|
||||
class Watcher:
|
||||
|
|
@ -73,7 +73,8 @@ 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.mc.go_zero()
|
||||
self.lock = threading.Lock()
|
||||
|
||||
def start(self):
|
||||
|
|
|
|||
|
|
@ -1,11 +1,9 @@
|
|||
|
||||
---
|
||||
# float32 base
|
||||
|
||||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
# float32 joint_4
|
||||
# float32 joint_5
|
||||
# float32 joint_6
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -4,6 +4,3 @@
|
|||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
# float32 rx
|
||||
# float32 ry
|
||||
# float32 rz
|
||||
|
|
@ -1,6 +1,4 @@
|
|||
bool Status
|
||||
int8 Pin1
|
||||
int8 Pin2
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
|
|
@ -1,12 +1,6 @@
|
|||
# float32 base
|
||||
float32 joint_1
|
||||
float32 joint_2
|
||||
float32 joint_3
|
||||
# float32 joint_4
|
||||
# float32 joint_5
|
||||
# float32 joint_6
|
||||
|
||||
|
||||
|
||||
int8 speed
|
||||
|
||||
|
|
|
|||
|
|
@ -1,12 +1,8 @@
|
|||
float32 x
|
||||
float32 y
|
||||
float32 z
|
||||
# float32 rx
|
||||
# float32 ry
|
||||
# float32 rz
|
||||
|
||||
int8 speed
|
||||
# int8 model
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue