mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
194 lines
5.3 KiB
Python
Executable file
194 lines
5.3 KiB
Python
Executable file
#!/usr/bin/env python2
|
||
# coding:utf-8
|
||
import rospy
|
||
from visualization_msgs.msg import Marker
|
||
import time
|
||
import os
|
||
|
||
# Type of message communicated with mycobot，与 mycobot 通信的消息类型
|
||
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
|
||
|
||
|
||
rospy.init_node("gipper_subscriber", anonymous=True)
|
||
|
||
# Control the topic of mycobot, followed by angle, coordinates, gripper
|
||
# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
|
||
angle_pub = rospy.Publisher("mycobot/angles_goal",
|
||
MycobotSetAngles, queue_size=5)
|
||
coord_pub = rospy.Publisher("mycobot/coords_goal",
|
||
MycobotSetCoords, queue_size=5)
|
||
# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio
|
||
robot = os.popen("ls /dev/ttyUSB*").readline()
|
||
|
||
if "dev" in robot:
|
||
Pin = [2, 5]
|
||
else:
|
||
Pin = [20, 21]
|
||
|
||
pump_pub = rospy.Publisher("mycobot/pump_status",
|
||
MycobotPumpStatus, queue_size=5)
|
||
|
||
# instantiate the message object，实例化消息对象
|
||
angles = MycobotSetAngles()
|
||
coords = MycobotSetCoords()
|
||
pump = MycobotPumpStatus()
|
||
|
||
# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值
|
||
x_offset = -20
|
||
y_offset = 20
|
||
z_offset = 110
|
||
|
||
# With this variable limit, the fetching behavior is only done once
|
||
# 通过该变量限制，抓取行为只做一次
|
||
flag = False
|
||
|
||
# In order to compare whether the QR code moves later,为了后面比较二维码是否移动
|
||
temp_x = temp_y = temp_z = 0.0
|
||
|
||
temp_time = time.time()
|
||
|
||
|
||
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
|
||
"""Post coordinates,发布坐标"""
|
||
coords.x = x
|
||
coords.y = y
|
||
coords.z = z
|
||
coords.rx = rx
|
||
coords.ry = ry
|
||
coords.rz = rz
|
||
coords.speed = 70
|
||
coords.model = m
|
||
# print(coords)
|
||
coord_pub.publish(coords)
|
||
|
||
|
||
def pub_angles(a, b, c, d, e, f, sp):
|
||
"""Publishing angle,发布角度"""
|
||
angles.joint_1 = float(a)
|
||
angles.joint_2 = float(b)
|
||
angles.joint_3 = float(c)
|
||
angles.joint_4 = float(d)
|
||
angles.joint_5 = float(e)
|
||
angles.joint_6 = float(f)
|
||
angles.speed = sp
|
||
angle_pub.publish(angles)
|
||
|
||
|
||
def pub_pump(flag, Pin):
|
||
"""Publish gripper status,发布夹爪状态"""
|
||
pump.Status = flag
|
||
pump.Pin1 = Pin[0]
|
||
pump.Pin2 = Pin[1]
|
||
pump_pub.publish(pump)
|
||
|
||
|
||
def target_is_moving(x, y, z):
|
||
"""Determine whether the target moves"""
|
||
"""判断目标是否移动"""
|
||
count = 0
|
||
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
|
||
print(o, n)
|
||
if abs(o - n) < 2:
|
||
count += 1
|
||
print(count)
|
||
if count == 3:
|
||
return False
|
||
return True
|
||
|
||
|
||
def grippercallback(data):
|
||
"""callback function,回调函数"""
|
||
global flag, temp_x, temp_y, temp_z
|
||
# rospy.loginfo('gripper_subscriber get date :%s', data)
|
||
if flag:
|
||
return
|
||
|
||
# Parse out the coordinate value,解析出坐标值
|
||
# pump length: 88mm
|
||
x = float(format(data.pose.position.x * 1000, ".2f"))
|
||
y = float(format(data.pose.position.y * 1000, ".2f"))
|
||
z = float(format(data.pose.position.z * 1000, ".2f"))
|
||
|
||
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
|
||
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
|
||
if (
|
||
time.time() - temp_time < 30
|
||
or (temp_x == temp_y == temp_z == 0.0)
|
||
or target_is_moving(x - x_offset, y - y_offset, z)
|
||
):
|
||
|
||
x -= x_offset
|
||
y -= y_offset
|
||
pub_coords(x - 20, y, 280)
|
||
time.sleep(0.1)
|
||
|
||
temp_x, temp_y, temp_z = x, y, z
|
||
return
|
||
else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取
|
||
|
||
print(x, y, z)
|
||
|
||
# detect heigth + pump height + limit height + offset
|
||
x += x_offset
|
||
y += y_offset
|
||
z = z + 88 + z_offset
|
||
|
||
pub_coords(x, y, z)
|
||
time.sleep(2.5)
|
||
|
||
# down
|
||
for i in range(1, 17):
|
||
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
|
||
time.sleep(0.1)
|
||
|
||
time.sleep(2)
|
||
|
||
pub_pump(True, Pin)
|
||
# pump on
|
||
|
||
pub_coords(x, y, z + 20, -165)
|
||
time.sleep(1.5)
|
||
|
||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||
time.sleep(1.5)
|
||
|
||
put_z = 140
|
||
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
|
||
time.sleep(1.5)
|
||
|
||
for i in range(1, 8):
|
||
pub_coords(39.4, -174.7, put_z - i * 5, -
|
||
177.13, -4.13, -152.59, 15, 2)
|
||
time.sleep(0.1)
|
||
|
||
pub_pump(False, Pin)
|
||
|
||
time.sleep(0.5)
|
||
|
||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||
time.sleep(1.5)
|
||
|
||
# finally
|
||
flag = True
|
||
|
||
|
||
def main():
|
||
for _ in range(10):
|
||
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
|
||
pub_angles(0, 30, -50, -40, 0, 0, 50)
|
||
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
|
||
time.sleep(0.5)
|
||
|
||
pub_pump(False, Pin)
|
||
# time.sleep(2.5)
|
||
|
||
# mark 信息的订阅者,subscribers to mark information
|
||
rospy.Subscriber("visualization_marker", Marker,
|
||
grippercallback, queue_size=1)
|
||
|
||
print("gripper test")
|
||
rospy.spin()
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|