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wangWking 2022-04-21 18:03:48 +08:00
parent e434301c17
commit eaa2e0592f
8 changed files with 16 additions and 11 deletions
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1
mycobot_320/new_mycobot_320/scripts/mycobot_320_detect_marker.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python #!/usr/bin/env python
# -*- coding:utf-8 -*-
import rospy import rospy
import cv2 as cv import cv2 as cv
import numpy as np import numpy as np

2
mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_and_pump.py
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@ -1,5 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# coding:utf-8 # -*- coding:utf-8 -*-
import rospy import rospy
from visualization_msgs.msg import Marker from visualization_msgs.msg import Marker
import time import time

10
mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding:utf-8 -*-
from cgi import print_environ from cgi import print_environ
import time import time
@ -14,7 +15,7 @@ def talker():
rospy.init_node("display", anonymous=True) rospy.init_node("display", anonymous=True)
print("Try connect real mycobot...") 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) baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud)) print("port: {}, baud: {}\n".format(port, baud))
try: try:
@ -61,18 +62,17 @@ def talker():
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
angles = mycobot.get_radians() angles = mycobot.get_radians()
print('angels=====================>',angles)
data_list = [] data_list = []
for index, value in enumerate(angles): for index, value in enumerate(angles):
data_list.append(value) data_list.append(value)
print('data_list=======================>',data_list) # print('data_list=======================>',data_list)
# rospy.loginfo('{}'.format(data_list)) # rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list joint_state_send.position = data_list
pub.publish(joint_state_send) pub.publish(joint_state_send)
coords = mycobot.get_coords() coords = mycobot.get_coords()
print('coords=========================>',coords) # print('coords=========================>',coords)
# marker # marker
marker_.header.stamp = rospy.Time.now() marker_.header.stamp = rospy.Time.now()
marker_.type = marker_.SPHERE marker_.type = marker_.SPHERE
@ -85,7 +85,7 @@ def talker():
print('coordscoords------------->',coords) print('coordscoords------------->',coords)
if not coords: if not coords:
coords = [0, 0, 0, 0, 0, 0] coords = [0, 0, 0, 0, 0, 0]
print('coordscoordscoords====----==========>',coords) # print('coordscoordscoords====----==========>',coords)
rospy.loginfo("error [101]: can not get coord values") rospy.loginfo("error [101]: can not get coord values")
marker_.pose.position.x = coords[1] / 1000 * -1 marker_.pose.position.x = coords[1] / 1000 * -1

1
mycobot_320/new_mycobot_320/scripts/mycobot_320_following_marker.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding:utf-8 -*-
import time import time
import rospy import rospy

1
mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding:utf-8 -*-
# license removed for brevity # license removed for brevity
import time import time
import math import math

1
mycobot_320/new_mycobot_320/scripts/mycobot_320_listen_real_of_topic.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding:utf-8 -*-
import math import math
import rospy import rospy

8
mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
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@ -1,5 +1,5 @@
#!/usr/bin/env python2 #!/usr/bin/env python2
# -*- coding:utf-8 -*-
"""[summary] """[summary]
This file obtains the joint angle of the manipulator in ROS, This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API. and then sends it directly to the real manipulator using `pymycobot` API.
@ -20,13 +20,13 @@ mc = None
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======================>',data.position) # print('data_position======================>',data.position)
data_list = [] data_list = []
for index, value in enumerate(data.position): for index, value in enumerate(data.position):
data_list.append(value) data_list.append(value)
mc.send_radians(data_list, 80) mc.send_radians(data_list, 80)
print('data_list=====================>',data_list) # print('data_list=====================>',data_list)
# time.sleep(0.5) # time.sleep(0.5)
@ -35,7 +35,7 @@ def listener():
rospy.init_node("control_slider", anonymous=True) rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback) 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) baud = rospy.get_param("~baud", 115200)
print(port, baud) print(port, baud)
mc = MyCobot(port, baud) mc = MyCobot(port, baud)

3
mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python #!/usr/bin/env python
# -*- coding:utf-8 -*-
from __future__ import print_function from __future__ import print_function
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy import rospy
@ -63,7 +64,7 @@ def teleop_keyboard():
change_angle = 180 * change_percent / 100 change_angle = 180 * change_percent / 100
change_len = 250 * 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("set_joint_angles")
rospy.wait_for_service("get_joint_coords") rospy.wait_for_service("get_joint_coords")
rospy.wait_for_service("set_joint_coords") rospy.wait_for_service("set_joint_coords")