diff --git a/myArm/myarm/CMakeLists.txt b/myArm/myarm/CMakeLists.txt new file mode 100644 index 0000000..f67a308 --- /dev/null +++ b/myArm/myarm/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(myarm) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge +) + +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS std_msgs actionlib +) + +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/follow_display.py + scripts/slider_control.py + scripts/teleop_keyboard.py + scripts/listen_real.py + scripts/listen_real_of_topic.py + scripts/detect_marker.py + scripts/following_marker.py + scripts/follow_and_pump.py + scripts/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# find_package(OpenCV REQUIRED) +# add_executable(opencv_camera src/opencv_camera) +# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# add_executable(camera_display src/camera_display) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/myArm/myarm/LICENSE b/myArm/myarm/LICENSE new file mode 100755 index 0000000..b8468e6 --- /dev/null +++ b/myArm/myarm/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/myArm/myarm/config/ai_mycobot_pi.rviz b/myArm/myarm/config/ai_mycobot_pi.rviz new file mode 100755 index 0000000..9340fbc --- /dev/null +++ b/myArm/myarm/config/ai_mycobot_pi.rviz @@ -0,0 +1,226 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + Splitter Ratio: 0.5 + Tree Height: 582 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + env: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + env: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Alpha: 1 + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + env: + {} + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: cube + Name: Marker + Namespaces: + cube: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.2028908729553223 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.07064759731292725 + Y: -0.0814988762140274 + Z: 0.10758385062217712 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.44039833545684814 + Target Frame: + Yaw: 0.43038973212242126 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 888 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1695 + X: 222 + Y: 28 diff --git a/myArm/myarm/config/myarm.rviz b/myArm/myarm/config/myarm.rviz new file mode 100755 index 0000000..5e56d99 --- /dev/null +++ b/myArm/myarm/config/myarm.rviz @@ -0,0 +1,226 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Axes1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 591 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 0.10000000149011612 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: + Show Trail: false + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base: + Value: true + joint1: + Value: false + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint7: + Value: true + Marker Alpha: 1 + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint7: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.327453851699829 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23039796948432922 + Target Frame: + Yaw: 3.0053975582122803 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 888 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/myArm/myarm/config/mycobot_with_marker.rviz b/myArm/myarm/config/mycobot_with_marker.rviz new file mode 100755 index 0000000..8b0dc7f --- /dev/null +++ b/myArm/myarm/config/mycobot_with_marker.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + - /Marker1/Namespaces1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + basic_shapes: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + basic_shapes: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + basic_cube: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.11990476 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0706475973 + Y: -0.0814988762 + Z: 0.107583851 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.375398338 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.235389769 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/myArm/myarm/launch/detect_marker.launch b/myArm/myarm/launch/detect_marker.launch new file mode 100755 index 0000000..e8c6998 --- /dev/null +++ b/myArm/myarm/launch/detect_marker.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/launch/detect_marker_with_topic.launch b/myArm/myarm/launch/detect_marker_with_topic.launch new file mode 100755 index 0000000..04a0d5e --- /dev/null +++ b/myArm/myarm/launch/detect_marker_with_topic.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/launch/mycobot_follow.launch b/myArm/myarm/launch/mycobot_follow.launch new file mode 100755 index 0000000..4e3f526 --- /dev/null +++ b/myArm/myarm/launch/mycobot_follow.launch @@ -0,0 +1,13 @@ + + + + + + + + + ["joint_states"] + + + + diff --git a/myArm/myarm/launch/simple_gui.launch b/myArm/myarm/launch/simple_gui.launch new file mode 100755 index 0000000..0957433 --- /dev/null +++ b/myArm/myarm/launch/simple_gui.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/launch/slider_control.launch b/myArm/myarm/launch/slider_control.launch new file mode 100755 index 0000000..76c5a1b --- /dev/null +++ b/myArm/myarm/launch/slider_control.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/launch/teleop_keyboard.launch b/myArm/myarm/launch/teleop_keyboard.launch new file mode 100755 index 0000000..a5cf77a --- /dev/null +++ b/myArm/myarm/launch/teleop_keyboard.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/launch/test.launch b/myArm/myarm/launch/test.launch new file mode 100755 index 0000000..d3e1651 --- /dev/null +++ b/myArm/myarm/launch/test.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/myArm/myarm/package.xml b/myArm/myarm/package.xml new file mode 100644 index 0000000..414d19e --- /dev/null +++ b/myArm/myarm/package.xml @@ -0,0 +1,47 @@ + + + myarm + 0.3.0 + The myarm package + + Wangweijian + Wangweijian + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + myarm_communication + + myarm_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + myarm_communication + + + + + + + + diff --git a/myArm/myarm/scripts/detect_marker.py b/myArm/myarm/scripts/detect_marker.py new file mode 100755 index 0000000..4283ea1 --- /dev/null +++ b/myArm/myarm/scripts/detect_marker.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python +import rospy +import cv2 as cv +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +from sensor_msgs.msg import Image +import tf +from tf.broadcaster import TransformBroadcaster +import tf_conversions +from mycobot_communication.srv import ( + GetCoords, + SetCoords, + GetAngles, + SetAngles, + GripperStatus, +) + + +class ImageConverter: + def __init__(self): + self.br = TransformBroadcaster() + self.bridge = CvBridge() + self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) + self.aruo_params = cv.aruco.DetectorParameters_create() + calibrationParams = cv.FileStorage( + "calibrationFileName.xml", cv.FILE_STORAGE_READ + ) + self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() + self.camera_matrix = None + # subscriber, listen wether has img come in. 订阅者，监听是否有img + self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) + + def callback(self, data): + """Callback function. + + Process image with OpenCV, detect Mark to get the pose. Then acccording the + pose to transforming. + """ + try: + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + size = cv_image.shape + focal_length = size[1] + center = [size[1] / 2, size[0] / 2] + if self.camera_matrix is None: + # calc the camera matrix, if don't have.如果没有，则计算相机矩阵 + self.camera_matrix = np.array( + [ + [focal_length, 0, center[0]], + [0, focal_length, center[1]], + [0, 0, 1], + ], + dtype=np.float32, + ) + gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) + # detect aruco marker.检测 aruco 标记 + ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) + corners, ids = ret[0], ret[1] + # process marker data.处理标记数据 + if len(corners) > 0: + if ids is not None: + # print('corners:', corners, 'ids:', ids) + + # detect marker pose. 检测marker位姿。 + # argument: + # marker corners,标记角 + # marker size (meter),标记尺寸（米） + ret = cv.aruco.estimatePoseSingleMarkers( + corners, 0.05, self.camera_matrix, self.dist_coeffs + ) + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + + print("rvec:", rvec, "tvec:", tvec) + + # just select first one detected marker.只需选择第一个检测到的标记。 + for i in range(rvec.shape[0]): + cv.aruco.drawDetectedMarkers(cv_image, corners) + cv.aruco.drawAxis( + cv_image, + self.camera_matrix, + self.dist_coeffs, + rvec[i, :, :], + tvec[i, :, :], + 0.03, + ) + + xyz = tvec[0, 0, :] + xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] + + # get quaternion for ros. 为ros获取四元数 + euler = rvec[0, 0, :] + tf_change = tf.transformations.quaternion_from_euler( + euler[0], euler[1], euler[2] + ) + print("tf_change:", tf_change) + + # trans pose according [joint1]，根据 [joint1] 变换姿势 + self.br.sendTransform( + xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" + ) + + # [x, y, z, -172, 3, -46.8] + cv.imshow("Image", cv_image) + + cv.waitKey(3) + try: + pass + except CvBridgeError as e: + print(e) + + +if __name__ == "__main__": + try: + rospy.init_node("detect_marker") + rospy.loginfo("Starting cv_bridge_test node") + ImageConverter() + rospy.spin() + except KeyboardInterrupt: + print("Shutting down cv_bridge_test node.") + cv.destroyAllWindows() diff --git a/myArm/myarm/scripts/follow_and_pump.py b/myArm/myarm/scripts/follow_and_pump.py new file mode 100755 index 0000000..d889bbb --- /dev/null +++ b/myArm/myarm/scripts/follow_and_pump.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# Type of message communicated with mycobot，与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# Control the topic of mycobot, followed by angle, coordinates, gripper +# 控制 mycobot 的 topic，依次是角度、坐标、夹爪 +angle_pub = rospy.Publisher("mycobot/angles_goal", + MycobotSetAngles, queue_size=5) +coord_pub = rospy.Publisher("mycobot/coords_goal", + MycobotSetCoords, queue_size=5) +# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio +robot = os.popen("ls /dev/ttyUSB*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# instantiate the message object，实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# With this variable limit, the fetching behavior is only done once +# 通过该变量限制，抓取行为只做一次 +flag = False + +# In order to compare whether the QR code moves later,为了后面比较二维码是否移动 +temp_x = temp_y = temp_z = 0.0 + +temp_time = time.time() + + +def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): + """Post coordinates,发布坐标""" + coords.x = x + coords.y = y + coords.z = z + coords.rx = rx + coords.ry = ry + coords.rz = rz + coords.speed = 70 + coords.model = m + # print(coords) + coord_pub.publish(coords) + + +def pub_angles(a, b, c, d, e, f, sp): + """Publishing angle,发布角度""" + angles.joint_1 = float(a) + angles.joint_2 = float(b) + angles.joint_3 = float(c) + angles.joint_4 = float(d) + angles.joint_5 = float(e) + angles.joint_6 = float(f) + angles.speed = sp + angle_pub.publish(angles) + + +def pub_pump(flag, Pin): + """Publish gripper status,发布夹爪状态""" + pump.Status = flag + pump.Pin1 = Pin[0] + pump.Pin2 = Pin[1] + pump_pub.publish(pump) + + +def target_is_moving(x, y, z): + """Determine whether the target moves""" + """判断目标是否移动""" + count = 0 + for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): + print(o, n) + if abs(o - n) < 2: + count += 1 + print(count) + if count == 3: + return False + return True + + +def grippercallback(data): + """callback function,回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # Parse out the coordinate value,解析出坐标值 + # pump length: 88mm + x = float(format(data.pose.position.x * 1000, ".2f")) + y = float(format(data.pose.position.y * 1000, ".2f")) + z = float(format(data.pose.position.z * 1000, ".2f")) + + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior + # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 + if ( + time.time() - temp_time < 30 + or (temp_x == temp_y == temp_z == 0.0) + or target_is_moving(x - x_offset, y - y_offset, z) + ): + + x -= x_offset + y -= y_offset + pub_coords(x - 20, y, 280) + time.sleep(0.1) + + temp_x, temp_y, temp_z = x, y, z + return + else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取 + + print(x, y, z) + + # detect heigth + pump height + limit height + offset + x += x_offset + y += y_offset + z = z + 88 + z_offset + + pub_coords(x, y, z) + time.sleep(2.5) + + # down + for i in range(1, 17): + pub_coords(x, y, z - i * 5, rx=-160, sp=10) + time.sleep(0.1) + + time.sleep(2) + + pub_pump(True, Pin) + # pump on + + pub_coords(x, y, z + 20, -165) + time.sleep(1.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + put_z = 140 + pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2) + time.sleep(1.5) + + for i in range(1, 8): + pub_coords(39.4, -174.7, put_z - i * 5, - + 177.13, -4.13, -152.59, 15, 2) + time.sleep(0.1) + + pub_pump(False, Pin) + + time.sleep(0.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + # finally + flag = True + + +def main(): + for _ in range(10): + # pub_coords(150, 20, 220, -175, 0, -90, 70, 2) + pub_angles(0, 30, -50, -40, 0, 0, 50) + # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70) + time.sleep(0.5) + + pub_pump(False, Pin) + # time.sleep(2.5) + + # mark 信息的订阅者,subscribers to mark information + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/myArm/myarm/scripts/follow_display.py b/myArm/myarm/scripts/follow_display.py new file mode 100755 index 0000000..6fad77f --- /dev/null +++ b/myArm/myarm/scripts/follow_display.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python2 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker + +from pymycobot.mycobot import MyCobot + + +def talker(): + rospy.init_node("display", anonymous=True) + + print("Try connect real mycobot...") + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print("port: {}, baud: {}\n".format(port, baud)) + try: + mycobot = MyCobot(port, baud) + except Exception as e: + print(e) + print( + """\ + \rTry connect mycobot failed! + \rPlease check wether connected with mycobot. + \rPlease chckt wether the port or baud is right. + """ + ) + exit(1) + mycobot.release_all_servos() + time.sleep(0.1) + print("Rlease all servos over.\n") + + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "my_namespace" + + print("publishing ...") + while not rospy.is_shutdown(): + joint_state_send.header.stamp = rospy.Time.now() + + angles = mycobot.get_radians() + data_list = [] + for index, value in enumerate(angles): + data_list.append(value) + + # rospy.loginfo('{}'.format(data_list)) + joint_state_send.position = data_list + + pub.publish(joint_state_send) + + coords = mycobot.get_coords() + + # marker + marker_.header.stamp = rospy.Time.now() + marker_.type = marker_.SPHERE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial.标记位置初始 + # print(coords) + if not coords: + coords = [0, 0, 0, 0, 0, 0] + rospy.loginfo("error [101]: can not get coord values") + + marker_.pose.position.x = coords[1] / 1000 * -1 + marker_.pose.position.y = coords[0] / 1000 + marker_.pose.position.z = coords[2] / 1000 + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/myArm/myarm/scripts/following_marker.py b/myArm/myarm/scripts/following_marker.py new file mode 100755 index 0000000..797ec1e --- /dev/null +++ b/myArm/myarm/scripts/following_marker.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +import tf + + +def talker(): + rospy.init_node("following_marker", anonymous=True) + + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(20) + + listener = tf.TransformListener() + + marker_ = Marker() + marker_.header.frame_id = "/joint1" + marker_.ns = "basic_cube" + + print("publishing ...") + while not rospy.is_shutdown(): + now = rospy.Time.now() - rospy.Duration(0.1) + + try: + trans, rot = listener.lookupTransform("joint1", "basic_shapes", now) + except Exception as e: + print(e) + continue + + print(type(trans), trans) + print(type(rot), rot) + + # marker + marker_.header.stamp = now + marker_.type = marker_.CUBE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial,标记位置初始化 + marker_.pose.position.x = trans[0] + marker_.pose.position.y = trans[1] + marker_.pose.position.z = trans[2] + marker_.pose.orientation.x = rot[0] + marker_.pose.orientation.y = rot[1] + marker_.pose.orientation.z = rot[2] + marker_.pose.orientation.w = rot[3] + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/myArm/myarm/scripts/listen_real.py b/myArm/myarm/scripts/listen_real.py new file mode 100755 index 0000000..1d38b61 --- /dev/null +++ b/myArm/myarm/scripts/listen_real.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python2 +# encoding:utf-8 +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.srv import GetAngles + + +def talker(): + rospy.loginfo("start ...") + rospy.init_node("real_listener", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state，发布关节状态 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用 + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server.从服务器获得真实的角度。 + res = func() + if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: + continue + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + res.joint_4 * (math.pi / 180), + res.joint_5 * (math.pi / 180), + res.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + # publish angles.发布角度 + joint_state_send.header.stamp = rospy.Time.now() + joint_state_send.position = radians_list + pub.publish(joint_state_send) + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/myArm/myarm/scripts/listen_real_of_topic.py b/myArm/myarm/scripts/listen_real_of_topic.py new file mode 100755 index 0000000..2c910da --- /dev/null +++ b/myArm/myarm/scripts/listen_real_of_topic.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +# encoding:utf-8 + +import math +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.msg import MycobotAngles + + +class Listener(object): + def __init__(self): + super(Listener, self).__init__() + + rospy.loginfo("start ...") + rospy.init_node("real_listener_1", anonymous=True) + # init publisher.初始化发布者 + self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) + # init subscriber.初始化订阅者 + self.sub = rospy.Subscriber("mycobot/angles_real", MycobotAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`mycobot/angles_real` subscriber callback method. + + Args: + data (MycobotAngles): callback argument. + """ + # ini publisher object. 初始化发布者对象 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + joint_state_send.header.stamp = rospy.Time.now() + + # process callback data. 处理回调数据。 + radians_list = [ + data.joint_1 * (math.pi / 180), + data.joint_2 * (math.pi / 180), + data.joint_3 * (math.pi / 180), + data.joint_4 * (math.pi / 180), + data.joint_5 * (math.pi / 180), + data.joint_6 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + joint_state_send.position = radians_list + self.pub.publish(joint_state_send) + + +if __name__ == "__main__": + try: + Listener() + except rospy.ROSInterruptException: + pass diff --git a/myArm/myarm/scripts/simple_gui.py b/myArm/myarm/scripts/simple_gui.py new file mode 100755 index 0000000..783e3e4 --- /dev/null +++ b/myArm/myarm/scripts/simple_gui.py @@ -0,0 +1,481 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +try: + import tkinter as tk +except ImportError: + import Tkinter as tk +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import time +from rospy import ServiceException + + +class Window: + def __init__(self, handle): + self.win = handle + self.win.resizable(0, 0) # fixed window size，固定窗口大小 + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # set default speed，设置默认速度 + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # Get the data of the robotic arm，获取机械臂数据 + self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.get_date() + + # get screen width and height.获取屏幕宽度和高度 + self.ws = self.win.winfo_screenwidth() # width of the screen + self.hs = self.win.winfo_screenheight() # height of the screen + # calculate x and y coordinates for the Tk root window + # 计算 Tk 根窗口的 x 和 y 坐标 + x = int((self.ws / 2) - 190) + y = int((self.hs / 2) - 250) + self.win.geometry("430x400+{}+{}".format(x, y)) + # layout,布局 + self.set_layout() + # input section,输入部分 + self.need_input() + # Show part,展示部分 + self.show_init() + + # Set the joint buttons 设置joint按钮 + tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # coordination settings button,coordination 设置按钮 + tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( + row=6, column=1, sticky="w", padx=3, pady=2 + ) + + # Gripper switch button,夹爪开关按钮 + tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( + row=1, column=0, sticky="w", padx=3, pady=50 + ) + tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid( + row=1, column=1, sticky="w", padx=3, pady=2 + ) + + def connect_ser(self): + rospy.init_node("simple_gui", anonymous=True, disable_signals=True) + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + try: + self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + self.switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus + ) + except: + print("start error ...") + exit(1) + + print("Connect service success.") + + def set_layout(self): + self.frmLT = tk.Frame(width=200, height=200) + self.frmLC = tk.Frame(width=200, height=200) + self.frmLB = tk.Frame(width=200, height=200) + self.frmRT = tk.Frame(width=200, height=200) + self.frmLT.grid(row=0, column=0, padx=1, pady=3) + self.frmLC.grid(row=1, column=0, padx=1, pady=3) + self.frmLB.grid(row=1, column=1, padx=2, pady=3) + self.frmRT.grid(row=0, column=1, padx=2, pady=3) + + def need_input(self): + # input hint,输入提示 + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 + tk.Label(self.frmRT, text=" z ").grid(row=2) + tk.Label(self.frmRT, text=" rx ").grid(row=3) + tk.Label(self.frmRT, text=" ry ").grid(row=4) + tk.Label(self.frmRT, text=" rz ").grid(row=5) + + # Set the default value of the input box,设置输入框的默认值 + self.j1_default = tk.StringVar() + self.j1_default.set(self.res_angles[0]) + self.j2_default = tk.StringVar() + self.j2_default.set(self.res_angles[1]) + self.j3_default = tk.StringVar() + self.j3_default.set(self.res_angles[2]) + self.j4_default = tk.StringVar() + self.j4_default.set(self.res_angles[3]) + self.j5_default = tk.StringVar() + self.j5_default.set(self.res_angles[4]) + self.j6_default = tk.StringVar() + self.j6_default.set(self.res_angles[5]) + + self.x_default = tk.StringVar() + self.x_default.set(self.record_coords[0]) + self.y_default = tk.StringVar() + self.y_default.set(self.record_coords[1]) + self.z_default = tk.StringVar() + self.z_default.set(self.record_coords[2]) + self.rx_default = tk.StringVar() + self.rx_default.set(self.record_coords[3]) + self.ry_default = tk.StringVar() + self.ry_default.set(self.record_coords[4]) + self.rz_default = tk.StringVar() + self.rz_default.set(self.record_coords[5]) + + # joint input box,joint 输入框 + self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) + self.J_1.grid(row=0, column=1, pady=3) + self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) + self.J_2.grid(row=1, column=1, pady=3) + self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) + self.J_3.grid(row=2, column=1, pady=3) + self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) + self.J_4.grid(row=3, column=1, pady=3) + self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default) + self.J_5.grid(row=4, column=1, pady=3) + self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) + self.J_6.grid(row=5, column=1, pady=3) + + # coord input box,coord 输入框 + self.x = tk.Entry(self.frmRT, textvariable=self.x_default) + self.x.grid(row=0, column=1, pady=3, padx=0) + self.y = tk.Entry(self.frmRT, textvariable=self.y_default) + self.y.grid(row=1, column=1, pady=3) + self.z = tk.Entry(self.frmRT, textvariable=self.z_default) + self.z.grid(row=2, column=1, pady=3) + self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) + self.rx.grid(row=3, column=1, pady=3) + self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default) + self.ry.grid(row=4, column=1, pady=3) + self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) + self.rz.grid(row=5, column=1, pady=3) + + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 + self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6] + self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] + + # speed input box,速度输入框 + tk.Label( + self.frmLB, + text="speed", + ).grid(row=0, column=0) + self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10) + self.get_speed.grid(row=0, column=1) + + def show_init(self): + # show,显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLC, text="Joint 6 ").grid(row=5) + + # get数据 + + # show,展示出来 + self.cont_1 = tk.StringVar(self.frmLC) + self.cont_1.set(str(self.res_angles[0]) + "°") + self.cont_2 = tk.StringVar(self.frmLC) + self.cont_2.set(str(self.res_angles[1]) + "°") + self.cont_3 = tk.StringVar(self.frmLC) + self.cont_3.set(str(self.res_angles[2]) + "°") + self.cont_4 = tk.StringVar(self.frmLC) + self.cont_4.set(str(self.res_angles[3]) + "°") + self.cont_5 = tk.StringVar(self.frmLC) + self.cont_5.set(str(self.res_angles[4]) + "°") + self.cont_6 = tk.StringVar(self.frmLC) + self.cont_6.set(str(self.res_angles[5]) + "°") + self.cont_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.cont_4, + self.cont_5, + self.cont_6, + self.speed, + self.model, + ] + + self.show_j1 = tk.Label( + self.frmLC, + textvariable=self.cont_1, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=1, padx=0, pady=5) + + self.show_j2 = tk.Label( + self.frmLC, + textvariable=self.cont_2, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=1, padx=0, pady=5) + self.show_j3 = tk.Label( + self.frmLC, + textvariable=self.cont_3, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=1, padx=0, pady=5) + self.show_j4 = tk.Label( + self.frmLC, + textvariable=self.cont_4, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=1, padx=0, pady=5) + self.show_j5 = tk.Label( + self.frmLC, + textvariable=self.cont_5, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=1, padx=0, pady=5) + self.show_j6 = tk.Label( + self.frmLC, + textvariable=self.cont_6, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=1, padx=5, pady=5) + + self.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + self.show_j4, + self.show_j5, + self.show_j6, + ] + + # show,显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) + tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) + tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) + tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) + tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3) + self.coord_x = tk.StringVar() + self.coord_x.set(str(self.record_coords[0])) + self.coord_y = tk.StringVar() + self.coord_y.set(str(self.record_coords[1])) + self.coord_z = tk.StringVar() + self.coord_z.set(str(self.record_coords[2])) + self.coord_rx = tk.StringVar() + self.coord_rx.set(str(self.record_coords[3])) + self.coord_ry = tk.StringVar() + self.coord_ry.set(str(self.record_coords[4])) + self.coord_rz = tk.StringVar() + self.coord_rz.set(str(self.record_coords[5])) + + self.coord_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.coord_rx, + self.coord_ry, + self.coord_rz, + self.speed, + self.model, + ] + + self.show_x = tk.Label( + self.frmLC, + textvariable=self.coord_x, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=4, padx=5, pady=5) + self.show_y = tk.Label( + self.frmLC, + textvariable=self.coord_y, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=4, padx=5, pady=5) + self.show_z = tk.Label( + self.frmLC, + textvariable=self.coord_z, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=4, padx=5, pady=5) + self.show_rx = tk.Label( + self.frmLC, + textvariable=self.coord_rx, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=4, padx=5, pady=5) + self.show_ry = tk.Label( + self.frmLC, + textvariable=self.coord_ry, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=4, padx=5, pady=5) + self.show_rz = tk.Label( + self.frmLC, + textvariable=self.coord_rz, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=4, padx=5, pady=5) + + # mm， Unit show，单位展示 + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(6): + tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( + row=i, column=5 + ) + + def gripper_open(self): + try: + self.switch_gripper(True) + except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error + # 可能由于该方法没有返回值，服务抛出无法处理的错误 + pass + + def gripper_close(self): + try: + self.switch_gripper(False) + except ServiceException: + pass + + def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm + # 获取 coord 输入的数据，发送给机械臂 + c_value = [] + for i in self.all_c: + # print(type(i.get())) + c_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + c_value.append(self.speed) + c_value.append(self.model) + # print(c_value) + try: + self.set_coords(*c_value) + except ServiceException: + pass + self.show_j_date(c_value[:-2], "coord") + + def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm + # 获取joint输入的数据，发送给机械臂 + j_value = [] + for i in self.all_j: + # print(type(i.get())) + j_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + j_value.append(self.speed) + + try: + self.set_angles(*j_value) + except ServiceException: + pass + self.show_j_date(j_value[:-1]) + # return j_value,c_value,speed + + def get_date(self): + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 + t = time.time() + while time.time() - t < 2: + self.res = self.get_coords() + if self.res.x > 1: + break + time.sleep(0.1) + + t = time.time() + while time.time() - t < 2: + self.angles = self.get_angles() + if self.angles.joint_1 > 1: + break + time.sleep(0.1) + # print(self.angles.joint_1) + self.record_coords = [ + round(self.res.x, 2), + round(self.res.y, 2), + round(self.res.z, 2), + round(self.res.rx, 2), + round(self.res.ry, 2), + round(self.res.rz, 2), + self.speed, + self.model, + ] + self.res_angles = [ + round(self.angles.joint_1, 2), + round(self.angles.joint_2, 2), + round(self.angles.joint_3, 2), + round(self.angles.joint_4, 2), + round(self.angles.joint_5, 2), + round(self.angles.joint_6, 2), + ] + # print('coord:',self.record_coords) + # print('angles:',self.res_angles) + + # def send_input(self,dates): + def show_j_date(self, date, way=""): + # Show data,展示数据 + if way == "coord": + for i, j in zip(date, self.coord_all): + # print(i) + j.set(str(i)) + else: + for i, j in zip(date, self.cont_all): + j.set(str(i) + "°") + + def run(self): + while True: + try: + self.win.update() + time.sleep(0.001) + except tk.TclError as e: + if "application has been destroyed" in str(e): + break + else: + raise + + +def main(): + window = tk.Tk() + window.title("mycobot ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() diff --git a/myArm/myarm/scripts/slider_control.py b/myArm/myarm/scripts/slider_control.py new file mode 100755 index 0000000..e3cf6a6 --- /dev/null +++ b/myArm/myarm/scripts/slider_control.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python2 + +"""[summary] +This file obtains the joint angle of the manipulator in ROS, +and then sends it directly to the real manipulator using `pymycobot` API. +This file is [slider_control.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyUSB0' + baud: serial prot baudrate. Defaults is 115200. +""" + +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(value) + + mc.send_radians(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = MyCobot(port, baud) + + # 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 ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/myArm/myarm/scripts/teleop_keyboard.py b/myArm/myarm/scripts/teleop_keyboard.py new file mode 100755 index 0000000..6bb47af --- /dev/null +++ b/myArm/myarm/scripts/teleop_keyboard.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python +from __future__ import print_function +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import sys +import select +import termios +import tty +import time + +import roslib + +# Terminal output prompt information. 终端输出提示信息 +msg = """\ +Mycobot Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z,rx,ry,rz]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + +u(rx+) i(ry+) o(rz+) +j(rx-) k(ry-) l(rz-) + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 50) + change_percent = rospy.get_param("~change_percent", 5) + + change_angle = 180 * change_percent / 100 + change_len = 250 * change_percent / 100 + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + print("service ready.") + try: + get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus) + except: + print("start error ...") + exit(1) + + init_pose = [0, 0, 0, 0, 0, 0, speed] + home_pose = [0, 8, -127, 40, 0, 0, speed] + + # rsp = set_angles(*init_pose) + + while True: + res = get_coords() + if res.x > 1: + break + time.sleep(0.1) + + record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] + print(record_coords) + + try: + print(msg) + print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 + while 1: + try: + # print("\r current coords: %s" % record_coords, end="") + with Raw(sys.stdin): + key = sys.stdin.read(1) + if key == "q": + break + elif key in ["w", "W"]: + record_coords[0] += change_len + set_coords(*record_coords) + elif key in ["s", "S"]: + record_coords[0] -= change_len + set_coords(*record_coords) + elif key in ["a", "A"]: + record_coords[1] -= change_len + set_coords(*record_coords) + elif key in ["d", "D"]: + record_coords[1] += change_len + set_coords(*record_coords) + elif key in ["z", "Z"]: + record_coords[2] -= change_len + set_coords(*record_coords) + elif key in ["x", "X"]: + record_coords[2] += change_len + set_coords(*record_coords) + elif key in ["u", "U"]: + record_coords[3] += change_angle + set_coords(*record_coords) + elif key in ["j", "J"]: + record_coords[3] -= change_angle + set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[4] += change_angle + set_coords(*record_coords) + elif key in ["k", "K"]: + record_coords[4] -= change_angle + set_coords(*record_coords) + elif key in ["o", "O"]: + record_coords[5] += change_angle + set_coords(*record_coords) + elif key in ["l", "L"]: + record_coords[5] -= change_angle + set_coords(*record_coords) + elif key in ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + elif key in "2": + rsp = set_angles(*home_pose) + elif key in "3": + rep = get_angles() + home_pose[0] = rep.joint_1 + home_pose[1] = rep.joint_2 + home_pose[2] = rep.joint_3 + home_pose[3] = rep.joint_4 + home_pose[5] = rep.joint_5 + else: + continue + + except Exception as e: + # print(e) + continue + + except Exception as e: + print(e) + + +if __name__ == "__main__": + try: + teleop_keyboard() + except rospy.ROSInterruptException: + pass diff --git a/myArm/myarm/src/camera_display.cpp b/myArm/myarm/src/camera_display.cpp new file mode 100644 index 0000000..1f3abeb --- /dev/null +++ b/myArm/myarm/src/camera_display.cpp @@ -0,0 +1,29 @@ +#include +#include +#include +#include + +void imageCallback(const sensor_msgs::ImageConstPtr &msg) +{ + try + { + cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image); + cv::waitKey(30); + } + catch (cv_bridge::Exception &e) + { + ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str()); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "image_listener"); + ros::NodeHandle nh; + cv::namedWindow("view"); + cv::startWindowThread(); + image_transport::ImageTransport it(nh); + image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback); + ros::spin(); + cv::destroyWindow("view"); +} diff --git a/myArm/myarm/src/opencv_camera.cpp b/myArm/myarm/src/opencv_camera.cpp new file mode 100644 index 0000000..6501814 --- /dev/null +++ b/myArm/myarm/src/opencv_camera.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include // for converting the command line parameter to integer,用于将命令行参数转换为整数 + +int main(int argc, char **argv) +{ + // Check if video source has been passed as a parameter,检查视频源是否已作为参数传递 + if (argv[1] == NULL) + { + ROS_INFO("argv[1]=NULL\n"); + return 1; + } + + ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点 + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题 + + ros::Rate loop_rate(200); // refresh Hz. + + // Convert the passed as command line parameter index for the video device to an integer， + // 将作为命令行参数传递的视频设备索引转换为整数 + std::istringstream video_sourceCmd(argv[1]); + int video_source; + // Check if it is indeed a number，检查它是否确实是一个数字 + if (!(video_sourceCmd >> video_source)) + { + ROS_INFO("video_sourceCmd is %d\n", video_source); + return 1; + } + + cv::VideoCapture cap(video_source); + // Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备 + if (!cap.isOpened()) + { + ROS_INFO("can not opencv video device\n"); + return 1; + } + cv::Mat frame; + sensor_msgs::ImagePtr msg; + + while (nh.ok()) + { + cap >> frame; + // cv::imshow("veiwer", frame); + // Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容 + if (!frame.empty()) + { + msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); + pub.publish(msg); + //cv::Wait(1); + } + ros::spinOnce(); + loop_rate.sleep(); + // if(cv::waitKey(2) >= 0) + // break; + } +} diff --git a/myArm/myarm_communication/CMakeLists.txt b/myArm/myarm_communication/CMakeLists.txt new file mode 100755 index 0000000..70f145d --- /dev/null +++ b/myArm/myarm_communication/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(myarm_communication) +add_compile_options(-std=c++11) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs + genmsg + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files(FILES + MycobotAngles.msg + MycobotCoords.msg + MycobotSetAngles.msg + MycobotSetCoords.msg + MycobotGripperStatus.msg + MycobotPumpStatus.msg +) + +## Generate services in the 'srv' folder +add_service_files(FILES + GetAngles.srv + SetAngles.srv + GetCoords.srv + SetCoords.srv + GripperStatus.srv + PumpStatus.srv +) + +## Generate added messages and services +generate_messages(DEPENDENCIES std_msgs) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mycobot_commuication.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mycobot_commuication_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/mycobot_services.py + scripts/mycobot_topics.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_commuication.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/myArm/myarm_communication/LICENSE b/myArm/myarm_communication/LICENSE new file mode 100755 index 0000000..b8468e6 --- /dev/null +++ b/myArm/myarm_communication/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/myArm/myarm_communication/launch/communication_jsnn.launch b/myArm/myarm_communication/launch/communication_jsnn.launch new file mode 100755 index 0000000..3472501 --- /dev/null +++ b/myArm/myarm_communication/launch/communication_jsnn.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/myArm/myarm_communication/launch/communication_seeed.launch b/myArm/myarm_communication/launch/communication_seeed.launch new file mode 100755 index 0000000..a0c66d3 --- /dev/null +++ b/myArm/myarm_communication/launch/communication_seeed.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/myArm/myarm_communication/launch/communication_service.launch b/myArm/myarm_communication/launch/communication_service.launch new file mode 100755 index 0000000..b2b21b0 --- /dev/null +++ b/myArm/myarm_communication/launch/communication_service.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/myArm/myarm_communication/launch/communication_topic.launch b/myArm/myarm_communication/launch/communication_topic.launch new file mode 100755 index 0000000..633f1bd --- /dev/null +++ b/myArm/myarm_communication/launch/communication_topic.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/myArm/myarm_communication/launch/communication_topic_pi.launch b/myArm/myarm_communication/launch/communication_topic_pi.launch new file mode 100755 index 0000000..c0c3fe9 --- /dev/null +++ b/myArm/myarm_communication/launch/communication_topic_pi.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/myArm/myarm_communication/msg/MycobotAngles.msg b/myArm/myarm_communication/msg/MycobotAngles.msg new file mode 100755 index 0000000..ded0d74 --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotAngles.msg @@ -0,0 +1,7 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 diff --git a/myArm/myarm_communication/msg/MycobotCoords.msg b/myArm/myarm_communication/msg/MycobotCoords.msg new file mode 100755 index 0000000..08f6dbd --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotCoords.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/myArm/myarm_communication/msg/MycobotGripperStatus.msg b/myArm/myarm_communication/msg/MycobotGripperStatus.msg new file mode 100755 index 0000000..18d6277 --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotGripperStatus.msg @@ -0,0 +1 @@ +bool Status \ No newline at end of file diff --git a/myArm/myarm_communication/msg/MycobotPumpStatus.msg b/myArm/myarm_communication/msg/MycobotPumpStatus.msg new file mode 100755 index 0000000..2373241 --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotPumpStatus.msg @@ -0,0 +1,3 @@ +bool Status +int8 Pin1 +int8 Pin2 diff --git a/myArm/myarm_communication/msg/MycobotSetAngles.msg b/myArm/myarm_communication/msg/MycobotSetAngles.msg new file mode 100755 index 0000000..49d3ac3 --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotSetAngles.msg @@ -0,0 +1,9 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 + +int8 speed diff --git a/myArm/myarm_communication/msg/MycobotSetCoords.msg b/myArm/myarm_communication/msg/MycobotSetCoords.msg new file mode 100755 index 0000000..d4c7e54 --- /dev/null +++ b/myArm/myarm_communication/msg/MycobotSetCoords.msg @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model diff --git a/myArm/myarm_communication/package.xml b/myArm/myarm_communication/package.xml new file mode 100755 index 0000000..4db4ebf --- /dev/null +++ b/myArm/myarm_communication/package.xml @@ -0,0 +1,66 @@ + + + myarm_communication + 0.1.0 + The myarm_commuication package + + + + + zachary + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + rospy + std_msgs + message_generation + + rospy + std_msgs + message_runtime + + + + + + diff --git a/myArm/myarm_communication/scripts/mycobot_services.py b/myArm/myarm_communication/scripts/mycobot_services.py new file mode 100755 index 0000000..af4dbf7 --- /dev/null +++ b/myArm/myarm_communication/scripts/mycobot_services.py @@ -0,0 +1,209 @@ +#!/usr/bin/env python2 +# -*- coding: utf-8 -* +import time +import rospy +import os +import fcntl +from mycobot_communication.srv import * + +from pymycobot.mycobot import MyCobot + +mc = None + +# Avoid serial port conflicts and need to be locked +def acquire(lock_file): + open_mode = os.O_RDWR | os.O_CREAT | os.O_TRUNC + fd = os.open(lock_file, open_mode) + + pid = os.getpid() + lock_file_fd = None + + timeout = 50.0 + start_time = current_time = time.time() + while current_time < start_time + timeout: + try: + # The LOCK_EX means that only one process can hold the lock + # The LOCK_NB means that the fcntl.flock() is not blocking + # and we are able to implement termination of while loop, + # when timeout is reached. + fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB) + except (IOError, OSError): + pass + else: + lock_file_fd = fd + break + + # print('pid waiting for lock:%d'% pid) + + + time.sleep(1.0) + current_time = time.time() + if lock_file_fd is None: + os.close(fd) + return lock_file_fd + + +def release(lock_file_fd): + # Do not remove the lockfile: + fcntl.flock(lock_file_fd, fcntl.LOCK_UN) + os.close(lock_file_fd) + return None + +def create_handle(): + global mc + rospy.init_node("mycobot_services") + rospy.loginfo("start ...") + port = rospy.get_param("~port") + baud = rospy.get_param("~baud") + rospy.loginfo("%s,%s" % (port, baud)) + mc = MyCobot(port, baud) + + +def create_services(): + rospy.Service("set_joint_angles", SetAngles, set_angles) + rospy.Service("get_joint_angles", GetAngles, get_angles) + rospy.Service("set_joint_coords", SetCoords, set_coords) + rospy.Service("get_joint_coords", GetCoords, get_coords) + rospy.Service("switch_gripper_status", GripperStatus, switch_status) + rospy.Service("switch_pump_status", PumpStatus, toggle_pump) + rospy.loginfo("ready") + rospy.spin() + + +def set_angles(req): + """set angles，设置角度""" + angles = [ + req.joint_1, + req.joint_2, + req.joint_3, + req.joint_4, + req.joint_5, + req.joint_6, + ] + sp = req.speed + + if mc: + lock = acquire("/tmp/mycobot_lock") + mc.send_angles(angles, sp) + release(lock) + + return SetAnglesResponse(True) + + +def get_angles(req): + """get angles,获取角度""" + if mc: + lock = acquire("/tmp/mycobot_lock") + angles = mc.get_angles() + release(lock) + return GetAnglesResponse(*angles) + + +def set_coords(req): + coords = [ + req.x, + req.y, + req.z, + req.rx, + req.ry, + req.rz, + ] + sp = req.speed + mod = req.model + + if mc: + lock = acquire("/tmp/mycobot_lock") + mc.send_coords(coords, sp, mod) + release(lock) + + return SetCoordsResponse(True) + + +def get_coords(req): + if mc: + lock = acquire("/tmp/mycobot_lock") + coords = mc.get_coords() + release(lock) + return GetCoordsResponse(*coords) + + +def switch_status(req): + """Gripper switch status""" + """夹爪开关状态""" + if mc: + lock = acquire("/tmp/mycobot_lock") + if req.Status: + mc.set_gripper_state(0, 80) + else: + mc.set_gripper_state(1, 80) + release(lock) + + return GripperStatusResponse(True) + + +def toggle_pump(req): + if mc: + lock = acquire("/tmp/mycobot_lock") + if req.Status: + mc.set_basic_output(req.Pin1, 0) + mc.set_basic_output(req.Pin2, 0) + else: + mc.set_basic_output(req.Pin1, 1) + mc.set_basic_output(req.Pin2, 1) + release(lock) + + + return PumpStatusResponse(True) + + +robot_msg = """ +MyCobot Status +-------------------------------- +Joint Limit: + joint 1: -170 ~ +170 + joint 2: -170 ~ +170 + joint 3: -170 ~ +170 + joint 4: -170 ~ +170 + joint 5: -170 ~ +170 + joint 6: -180 ~ +180 + +Connect Status: %s + +Servo Infomation: %s + +Servo Temperature: %s + +Atom Version: %s +""" + + +def output_robot_message(): + connect_status = False + servo_infomation = "unknown" + servo_temperature = "unknown" + atom_version = "unknown" + + if mc: + lock = acquire("/tmp/mycobot_lock") + cn = mc.is_controller_connected() + release(lock) + if cn == 1: + connect_status = True + time.sleep(0.1) + lock = acquire("/tmp/mycobot_lock") + si = mc.is_all_servo_enable() + release(lock) + if si == 1: + servo_infomation = "all connected" + + print( + robot_msg % (connect_status, servo_infomation, + servo_temperature, atom_version) + ) + + +if __name__ == "__main__": + # print(MyCobot.__dict__) + create_handle() + output_robot_message() + create_services() diff --git a/myArm/myarm_communication/scripts/mycobot_topics.py b/myArm/myarm_communication/scripts/mycobot_topics.py new file mode 100755 index 0000000..5039b0d --- /dev/null +++ b/myArm/myarm_communication/scripts/mycobot_topics.py @@ -0,0 +1,218 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + +from pymycobot.mycobot import MyCobot + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + port = rospy.get_param("~port", os.popen("ls /dev/ttyUSB*").readline()[:-1]) + if not port: + port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1]) + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobot(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", + MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", + MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + 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) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/myArm/myarm_communication/scripts/mycobot_topics_jsnn.py b/myArm/myarm_communication/scripts/mycobot_topics_jsnn.py new file mode 100755 index 0000000..62b09a8 --- /dev/null +++ b/myArm/myarm_communication/scripts/mycobot_topics_jsnn.py @@ -0,0 +1,224 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +# from pymycobot import MyCobot + +from pymycobot import MyCobotSocket # pi + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can# + # 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了 + # tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # Select connected device，选择连接设备 + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + rospy.loginfo("%s,%s" % (port, baud)) + # self.mc = MyCobot(port,baud) + self.mc = MyCobotSocket(port, baud) # port + self.mc.connect() + + + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + """Subscribe to coordinates""" + """订阅坐标""" + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + 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) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/myArm/myarm_communication/scripts/mycobot_topics_pi.py b/myArm/myarm_communication/scripts/mycobot_topics_pi.py new file mode 100755 index 0000000..2c0bcb4 --- /dev/null +++ b/myArm/myarm_communication/scripts/mycobot_topics_pi.py @@ -0,0 +1,219 @@ +#!/usr/bin/env python3 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +from pymycobot import MyCobot +# from pymycobot import MyCobotSocket + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread.创建一个返回的子线程。 父线程等待 KeyboardInterrupt + 然后杀死子线程。 + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics_pi") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + baud = rospy.get_param("~baud", 1000000) + rospy.loginfo("%s,%s" % (port, baud)) + # self.mc = MyCobotSocket(port, baud) # port + # self.mc.connect() #pi + self.mc = MyCobot(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + 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) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/myArm/myarm_communication/scripts/mycobot_topics_seeed.py b/myArm/myarm_communication/scripts/mycobot_topics_seeed.py new file mode 100755 index 0000000..d1e8154 --- /dev/null +++ b/myArm/myarm_communication/scripts/mycobot_topics_seeed.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +from pymycobot import MyCobot + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobot(port,baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + 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) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/myArm/myarm_communication/srv/GetAngles.srv b/myArm/myarm_communication/srv/GetAngles.srv new file mode 100755 index 0000000..b9767ef --- /dev/null +++ b/myArm/myarm_communication/srv/GetAngles.srv @@ -0,0 +1,10 @@ + +--- + +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 diff --git a/myArm/myarm_communication/srv/GetCoords.srv b/myArm/myarm_communication/srv/GetCoords.srv new file mode 100755 index 0000000..c1f9bbc --- /dev/null +++ b/myArm/myarm_communication/srv/GetCoords.srv @@ -0,0 +1,9 @@ + +--- + +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/myArm/myarm_communication/srv/GripperStatus.srv b/myArm/myarm_communication/srv/GripperStatus.srv new file mode 100755 index 0000000..3887d75 --- /dev/null +++ b/myArm/myarm_communication/srv/GripperStatus.srv @@ -0,0 +1,5 @@ +bool Status + +--- + +bool Flag \ No newline at end of file diff --git a/myArm/myarm_communication/srv/PumpStatus.srv b/myArm/myarm_communication/srv/PumpStatus.srv new file mode 100755 index 0000000..8bd4b53 --- /dev/null +++ b/myArm/myarm_communication/srv/PumpStatus.srv @@ -0,0 +1,7 @@ +bool Status +int8 Pin1 +int8 Pin2 + +--- + +bool Flag \ No newline at end of file diff --git a/myArm/myarm_communication/srv/SetAngles.srv b/myArm/myarm_communication/srv/SetAngles.srv new file mode 100755 index 0000000..e5f4b42 --- /dev/null +++ b/myArm/myarm_communication/srv/SetAngles.srv @@ -0,0 +1,13 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 + +int8 speed + +--- + +bool Flag diff --git a/myArm/myarm_communication/srv/SetCoords.srv b/myArm/myarm_communication/srv/SetCoords.srv new file mode 100755 index 0000000..e5b1e52 --- /dev/null +++ b/myArm/myarm_communication/srv/SetCoords.srv @@ -0,0 +1,13 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model + +--- + +bool Flag \ No newline at end of file diff --git a/mycobot_description/urdf/myarm/base.dae b/mycobot_description/urdf/myarm/base.dae new file mode 100644 index 0000000..9deb093 --- /dev/null +++ b/mycobot_description/urdf/myarm/base.dae @@ -0,0 +1,242 @@ + + + + + Rhinoceros 7.11.21285.13002 + Output from Rhinoceros COLLADA Exporter + + 2023-05-22T05:51:52Z + 2023-05-22T05:51:52Z + + Z_UP + + + + + + + 40.038511 + 1.518129 + 864.695043 + 1042.672303 + + + + + + + + + 1.0 + 1.518129 + 0.005000 + 526.659370 + + + + + + + + + 1.0 + 1.518129 + 16.066800 + 134.259815 + + + + + + + + + 1.0 + 1.518129 + 8.325958 + 132.042827 + + + + + + + + + + + + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.980392 0.980392 0.980392 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 1.000000 + + + 0.000000 + + + + + + + 3894570049 + + + + 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228 228 228 229 229 229 69 69 69 226 226 226 143 143 143 239 239 239 227 227 227 228 228 228 70 70 70 238 238 238 145 145 145 237 237 237 238 238 238 239 239 239 144 144 144 239 239 239 143 143 143 144 144 144 144 144 144 145 145 145 238 238 238 143 143 143 226 226 226 227 227 227 236 236 236 237 237 237 146 146 146 71 71 71 143 143 143 70 70 70 72 72 72 152 152 152 71 71 71 73 73 73 152 152 152 72 72 72 152 152 152 143 143 143 71 71 71 75 75 75 151 151 151 74 74 74 73 73 73 151 151 151 152 152 152 150 150 150 151 151 151 75 75 75 73 73 73 74 74 74 151 151 151 227 227 227 70 70 70 143 143 143 228 228 228 69 69 69 70 70 70 237 237 237 145 145 145 146 146 146 150 150 150 75 75 75 76 76 76 76 76 76 77 77 77 150 150 150 149 149 149 248 248 248 158 158 158 157 157 157 158 158 158 249 249 249 149 149 149 150 150 150 77 77 77 149 149 149 77 77 77 78 78 78 248 248 248 249 249 249 158 158 158 248 248 248 149 149 149 247 247 247 246 246 246 247 247 247 149 149 149 79 79 79 149 149 149 78 78 78 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197 197 213 213 213 176 176 176 175 175 175 213 213 213 213 213 213 193 193 193 214 214 214 214 214 214 205 205 205 204 204 204 205 205 205 214 214 214 193 193 193 213 213 213 194 194 194 193 193 193 146 146 146 213 213 213 147 147 147 199 199 199 198 198 198 178 178 178 175 175 175 174 174 174 178 178 178 199 199 199 178 178 178 177 177 177 141 141 141 201 201 201 200 200 200 201 201 201 139 139 139 202 202 202 198 198 198 175 175 175 178 178 178 198 198 198 197 197 197 175 175 175 202 202 202 214 214 214 203 203 203 216 216 216 214 214 214 133 133 133 203 203 203 214 214 214 204 204 204 133 133 133 132 132 132 216 216 216 216 216 216 169 169 169 214 214 214 134 134 134 133 133 133 214 214 214 129 129 129 128 128 128 216 216 216 216 216 216 128 128 128 215 215 215 216 216 216 131 131 131 130 130 130 216 216 216 130 130 130 129 129 129 132 132 132 131 131 131 216 216 216 216 216 216 159 159 159 158 158 158 140 140 140 201 201 201 141 141 141 201 201 201 140 140 140 139 139 139 141 141 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1389 1389 1346 1346 1346 1163 1163 1163 1164 1164 1164 1388 1388 1388 1389 1389 1389 1386 1386 1386 1165 1165 1165 1145 1145 1145 1388 1388 1388 1164 1164 1164 1387 1387 1387 1165 1165 1165 1386 1386 1386 1164 1164 1164 1389 1389 1389 1163 1163 1163 1164 1164 1164 1386 1386 1386 1387 1387 1387 1164 1164 1164 1330 1330 1330 1350 1350 1350 1329 1329 1329 1151 1151 1151 1297 1297 1297 1150 1150 1150 1288 1288 1288 1289 1289 1289 1155 1155 1155 1285 1285 1285 1286 1286 1286 1157 1157 1157 1156 1156 1156 1286 1286 1286 1287 1287 1287 1288 1288 1288 1155 1155 1155 1287 1287 1287 1295 1295 1295 1152 1152 1152 1294 1294 1294 1293 1293 1293 1153 1153 1153 1292 1292 1292 1291 1291 1291 1292 1292 1292 1153 1153 1153 1290 1290 1290 1291 1291 1291 1154 1154 1154 1152 1152 1152 1293 1293 1293 1294 1294 1294 1289 1289 1289 1290 1290 1290 1154 1154 1154 1279 1279 1279 1280 1280 1280 1160 1160 1160 1279 1279 1279 1161 1161 1161 1278 1278 1278 1278 1278 1278 1396 1396 1396 1277 1277 1277 1161 1161 1161 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40 40 46 46 46 45 45 45 42 42 42 47 47 47 46 46 46 43 43 43 49 49 49 48 48 48 45 45 45 50 50 50 49 49 49 46 46 46 52 52 52 51 51 51 48 48 48 53 53 53 52 52 52 49 49 49 55 55 55 54 54 54 51 51 51 56 56 56 55 55 55 52 52 52 58 58 58 57 57 57 54 54 54 59 59 59 58 58 58 55 55 55 61 61 61 60 60 60 57 57 57 59 59 59 61 61 61 58 58 58 63 63 63 62 62 62 60 60 60 65 65 65 64 64 64 62 62 62 67 67 67 66 66 66 64 64 64 69 69 69 68 68 68 66 66 66 153 153 153 71 71 71 70 70 70 152 152 152 71 71 71 153 153 153 71 71 71 152 152 152 151 151 151 72 72 72 150 150 150 149 149 149 72 72 72 151 151 151 150 150 150 72 72 72 71 71 71 151 151 151 135 135 135 134 134 134 154 154 154 134 134 134 133 133 133 124 124 124 137 137 137 136 136 136 154 154 154 154 154 154 138 138 138 137 137 137 136 136 136 135 135 135 154 154 154 148 148 148 72 72 72 149 149 149 146 146 146 72 72 72 147 147 147 148 148 148 147 147 147 72 72 72 72 72 72 146 146 146 145 145 145 154 154 154 72 72 72 142 142 142 73 73 73 40 40 40 74 74 74 72 72 72 40 40 40 73 73 73 75 75 75 74 74 74 42 42 42 141 141 141 140 140 140 154 154 154 140 140 140 139 139 139 154 154 154 72 72 72 145 145 145 144 144 144 72 72 72 143 143 143 142 142 142 143 143 143 72 72 72 144 144 144 142 142 142 141 141 141 154 154 154 138 138 138 154 154 154 139 139 139 76 76 76 75 75 75 42 42 42 129 129 129 128 128 128 125 125 125 128 128 128 127 127 127 125 125 125 132 132 132 131 131 131 124 124 124 125 125 125 130 130 130 129 129 129 130 130 130 124 124 124 131 131 131 154 154 154 134 134 134 123 123 123 133 133 133 132 132 132 124 124 124 127 127 127 126 126 126 125 125 125 130 130 130 125 125 125 124 124 124 154 154 154 123 123 123 122 122 122 121 121 121 120 120 120 40 40 40 121 121 121 154 154 154 122 122 122 124 124 124 123 123 123 134 134 134 40 40 40 154 154 154 121 121 121 41 41 41 119 119 119 118 118 118 120 120 120 119 119 119 40 40 40 40 40 40 119 119 119 41 41 41 116 116 116 43 43 43 117 117 117 41 41 41 117 117 117 43 43 43 118 118 118 117 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44 44 44 124 124 124 123 123 123 32 32 32 122 122 122 121 121 121 122 122 122 38 38 38 123 123 123 119 119 119 14 14 14 20 20 20 120 120 120 20 20 20 26 26 26 122 122 122 32 32 32 38 38 38 123 123 123 38 38 38 44 44 44 32 32 32 121 121 121 26 26 26 118 118 118 14 14 14 119 119 119 8 8 8 113 113 113 112 112 112 114 114 114 113 113 113 3 3 3 3 3 3 113 113 113 8 8 8 112 112 112 13 13 13 8 8 8 111 111 111 13 13 13 112 112 112 18 18 18 13 13 13 111 111 111 110 110 110 19 19 19 111 111 111 19 19 19 18 18 18 111 111 111 109 109 109 19 19 19 110 110 110 108 108 108 25 25 25 109 109 109 19 19 19 109 109 109 25 25 25 31 31 31 25 25 25 108 108 108 37 37 37 107 107 107 106 106 106 108 108 108 107 107 107 31 31 31 31 31 31 107 107 107 37 37 37 105 105 105 43 43 43 37 37 37 104 104 104 43 43 43 105 105 105 106 106 106 105 105 105 37 37 37 102 102 102 50 50 50 103 103 103 43 43 43 104 104 104 103 103 103 100 100 100 57 57 57 101 101 101 102 102 102 101 101 101 50 50 50 103 103 103 50 50 50 43 43 43 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