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49 lines
1.3 KiB
Python
Executable file
49 lines
1.3 KiB
Python
Executable file
#encoding: UTF-8
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#!/usr/bin/env python2
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import rospy
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import time,os
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from mira_communication.msg import MiraSetAngles, MiraSetCoords, MiraPumpStatus
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class Movement(object):
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"""Tools class: Communication with mycobot."""
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def __init__(self):
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super(Movement, self).__init__()
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self.angle_pub = rospy.Publisher("mycobot/angles_goal", MiraSetAngles, queue_size=5)
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self.coord_pub = rospy.Publisher("mycobot/coords_goal", MiraSetCoords, queue_size=5)
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self.pump_pub = rospy.Publisher("mycobot/pump_status", MiraPumpStatus, queue_size=10)
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self.angles = MiraSetAngles()
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self.coords = MiraSetCoords()
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self.pump = MiraPumpStatus()
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def pub_coords(self, item, sp=20):
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self.coords.x = item[0]
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self.coords.y = item[1]
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self.coords.z = item[2]
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# self.coords.rx = item[3]
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# self.coords.ry = item[4]
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# self.coords.rz = item[5]
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self.coords.speed = sp
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# self.coords.model = m
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self.coord_pub.publish(self.coords)
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def pub_angles(self, item, sp):
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self.angles.joint_1 = item[0]
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self.angles.joint_2 = item[1]
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self.angles.joint_3 = item[2]
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# self.angles.joint_4 = item[3]
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# self.angles.joint_5 = item[4]
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# self.angles.joint_6 = item[5]
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self.angles.speed = sp
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self.angle_pub.publish(self.angles)
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def pub_pump(self, flag):
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self.pump.Status= flag
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# self.pump.Pin1 = Pin[0]
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# self.pump.Pin2 = Pin[1]
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self.pump_pub.publish(self.pump)
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