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https://github.com/elephantrobotics/mycobot_ros.git
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59 lines
1.7 KiB
Python
59 lines
1.7 KiB
Python
#!/usr/bin/env python3
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import math
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import rospy
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from sensor_msgs.msg import JointState
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import pymycobot
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from packaging import version
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# min low version require
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MAX_REQUIRE_VERSION = '3.5.3'
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current_verison = pymycobot.__version__
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print('current pymycobot library version: {}'.format(current_verison))
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if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
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from pymycobot.ultraArmP340 import ultraArmP340
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class_name = 'new'
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else:
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from pymycobot.ultraArm import ultraArm
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class_name = 'old'
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print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
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ua = None
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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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radians_to_angles = round(math.degrees(value), 2)
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data_list.append(radians_to_angles)
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rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
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ua.set_angles(data_list, 25)
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def listener():
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global ua
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rospy.init_node("control_slider", anonymous=True)
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port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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if class_name == 'old':
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ua = ultraArm(port, baud)
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else:
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ua = ultraArmP340(port, baud)
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ua.power_on()
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ua.go_zero()
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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("spin ...")
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rospy.spin()
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if __name__ == "__main__":
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listener()
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