mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
41 lines
977 B
Python
41 lines
977 B
Python
#!/usr/bin/env python2
|
||
import time
|
||
import rospy
|
||
from sensor_msgs.msg import JointState
|
||
|
||
from pymycobot.mycobot import MyCobot
|
||
# from pymycobot.mypalletizer import MyPalletizer
|
||
|
||
|
||
mc = None
|
||
|
||
|
||
def callback(data):
|
||
rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
||
data_list = []
|
||
for index, value in enumerate(data.position):
|
||
# if index != 2:
|
||
# value *= -1
|
||
data_list.append(value)
|
||
# print("data_list:",data_list)
|
||
mc.send_radians(data_list, 80)
|
||
|
||
|
||
def listener():
|
||
global mc
|
||
rospy.init_node("mypal_reciver", anonymous=True)
|
||
|
||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||
baud = rospy.get_param("~baud", 115200)
|
||
print(port, baud)
|
||
mc = MyCobot(port, baud)
|
||
|
||
rospy.Subscriber("joint_states", JointState, callback)
|
||
|
||
# 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
|
||
rospy.spin()
|
||
|
||
|
||
if __name__ == "__main__":
|
||
listener()
|