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280 模型跟随增加异常处理机制

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This commit is contained in:
wangWking 2024-12-04 15:21:41 +08:00
parent 25a3fdc95a
commit f00bbb2258
3 changed files with 93 additions and 86 deletions
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3
mycobot_280/mycobot_280/scripts/follow_display.py
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@ -59,6 +59,7 @@ def talker():
while not rospy.is_shutdown(): while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
try:
angles = mycobot.get_radians() angles = mycobot.get_radians()
data_list = [] data_list = []
for index, value in enumerate(angles): for index, value in enumerate(angles):
@ -94,6 +95,8 @@ def talker():
pub_marker.publish(marker_) pub_marker.publish(marker_)
rate.sleep() rate.sleep()
except Exception as e:
print(e)
if __name__ == "__main__": if __name__ == "__main__":

4
mycobot_280/mycobot_280jn/scripts/follow_display.py
View file

@ -65,7 +65,7 @@ def talker():
print("publishing ...") print("publishing ...")
while not rospy.is_shutdown(): while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
try:
angles = mycobot.get_radians() angles = mycobot.get_radians()
print('angles:',angles) print('angles:',angles)
data_list = [] data_list = []
@ -102,6 +102,8 @@ def talker():
pub_marker.publish(marker_) pub_marker.publish(marker_)
rate.sleep() rate.sleep()
except Exception as e:
print(e)
if __name__ == "__main__": if __name__ == "__main__":

4
mycobot_280/mycobot_280pi/scripts/follow_display.py
View file

@ -59,7 +59,7 @@ def talker():
print("publishing ...") print("publishing ...")
while not rospy.is_shutdown(): while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
try:
angles = mycobot.get_radians() angles = mycobot.get_radians()
data_list = [] data_list = []
for index, value in enumerate(angles): for index, value in enumerate(angles):
@ -95,6 +95,8 @@ def talker():
pub_marker.publish(marker_) pub_marker.publish(marker_)
rate.sleep() rate.sleep()
except Exception as e:
print(e)
if __name__ == "__main__": if __name__ == "__main__":