add encoding=utf-8

mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# -*- coding:utf-8 -*-
 import rospy
 import cv2 as cv
 import numpy as np

mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python2
-# coding:utf-8
+# -*- coding:utf-8 -*-
 import rospy
 from visualization_msgs.msg import Marker
 import time

mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python2
+# -*- coding:utf-8 -*-
 from cgi import print_environ
 import time
 
@@ -14,7 +15,7 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
@@ -61,18 +62,17 @@ def talker():
         joint_state_send.header.stamp = rospy.Time.now()
 
         angles = mycobot.get_radians()
-        print('angels=====================>',angles)
         data_list = []
         for index, value in enumerate(angles):
             data_list.append(value)
-        print('data_list=======================>',data_list)
+        # print('data_list=======================>',data_list)
         # rospy.loginfo('{}'.format(data_list))
         joint_state_send.position = data_list
 
         pub.publish(joint_state_send)
 
         coords = mycobot.get_coords()
-        print('coords=========================>',coords)
+        # print('coords=========================>',coords)
         # marker
         marker_.header.stamp = rospy.Time.now()
         marker_.type = marker_.SPHERE
@@ -85,7 +85,7 @@ def talker():
         print('coordscoords------------->',coords)
         if not coords:
             coords = [0, 0, 0, 0, 0, 0]
-            print('coordscoordscoords====----==========>',coords)
+            # print('coordscoordscoords====----==========>',coords)
             rospy.loginfo("error [101]: can not get coord values")
 
         marker_.pose.position.x = coords[1] / 1000 * -1

mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python2
+# -*- coding:utf-8 -*-
 import time
 
 import rospy

mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python2
+# -*- coding:utf-8 -*-
 # license removed for brevity
 import time
 import math

mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python2
+# -*- coding:utf-8 -*-
 import math
 
 import rospy

mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python2
-
+# -*- coding:utf-8 -*-
 """[summary]
 This file obtains the joint angle of the manipulator in ROS,
 and then sends it directly to the real manipulator using `pymycobot` API.
@@ -20,13 +20,13 @@ mc = None
 
 def callback(data):
     # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
-    print('data_position======================>',data.position)
+    # print('data_position======================>',data.position)
     data_list = []
     for index, value in enumerate(data.position):
         data_list.append(value)
 
     mc.send_radians(data_list, 80)
-    print('data_list=====================>',data_list)
+    # print('data_list=====================>',data_list)
     # time.sleep(0.5)
 
 
@@ -35,7 +35,7 @@ def listener():
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
     mc = MyCobot(port, baud)

mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# -*- coding:utf-8 -*-
 from __future__ import print_function
 from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
@@ -63,7 +64,7 @@ def teleop_keyboard():
     change_angle = 180 * change_percent / 100
     change_len = 250 * change_percent / 100
 
-    rospy.wait_for_service("get_joint_angles")
+    rospy.wait_for_service("get_joint_ang cles")
     rospy.wait_for_service("set_joint_angles")
     rospy.wait_for_service("get_joint_coords")
     rospy.wait_for_service("set_joint_coords")