mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
68 lines
1.6 KiB
Python
Executable file
68 lines
1.6 KiB
Python
Executable file
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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from socket import *
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import math
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import sys
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import time
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from multiprocessing import Lock
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.elephantrobot import ElephantRobot
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global mc
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old_list = []
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def callback(data):
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"""callback function,回调函数"""
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satrt_time=time.time()
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global old_list
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# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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print("position:", data.position)
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data_list = []
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for index, value in enumerate(data.position):
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value = value * 180 / math.pi
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data_list.append(value)
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print ("data", data_list)
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if not old_list:
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old_list = data_list
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mc.write_angles(data_list, 1999)
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elif old_list != data_list:
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old_list = data_list
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# if mc.check_running():
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# mc.task_stop()
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# time.sleep(0.05)
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mc.write_angles(data_list, 1999)
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end_time=time.time()
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print('loop_time:',end_time-satrt_time)
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def listener():
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global mc
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rospy.init_node("control_slider", anonymous=True)
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ip = rospy.get_param("~ip", "192.168.1.159")
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print (ip)
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mc = ElephantRobot(ip, 5001)
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# START CLIENT,启动客户端
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res = mc.start_client()
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if res != "":
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sys.exit(1)
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mc.set_speed(90)
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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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# spin()只是阻止python退出，直到该节点停止
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print ("sping ...")
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rospy.spin()
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if __name__ == "__main__":
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listener()
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