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35 lines
902 B
Python
Executable file
35 lines
902 B
Python
Executable file
#!/usr/bin/env python2
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# from std_msgs.msg import String
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import time, subprocess
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.mycobot import MyCobot
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def callback(data):
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rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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# print(data.position)
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data_list = []
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for index, value in enumerate(data.position):
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if index != 2:
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value *= -1
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data_list.append(value)
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mc.send_radians(data_list, 80)
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# time.sleep(0.5)
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def listener():
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rospy.init_node('control_slider', anonymous=True)
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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rospy.spin()
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if __name__ == '__main__':
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port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
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shell=True).decode()
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mc = MyCobot(port)
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listener()
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