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https://github.com/elephantrobotics/mycobot_ros.git
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61 lines
1.8 KiB
Python
61 lines
1.8 KiB
Python
#!/usr/bin/env python2
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"""[summary]
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This file obtains the joint angle of the manipulator in ROS,
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and then sends it directly to the real manipulator using `pymycobot` API.
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This file is [slider_control.launch] related script.
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Passable parameters:
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port: serial prot string. Defaults is '/dev/ttyUSB0'
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baud: serial prot baudrate. Defaults is 115200.
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"""
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import time
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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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raise RuntimeError('The version of pymycobot library must be less than {} . The current version is {}. Please downgrade the library version.'.format(MAX_REQUIRE_VERSION, current_verison))
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else:
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print('pymycobot library version meets the requirements!')
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from pymycobot.mycobot import MyCobot
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mc = None
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def callback(data):
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global latest_data
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latest_data = [round(math.degrees(value), 2) for value in data.position]
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rospy.loginfo(f"Joint angles: {latest_data}")
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def control_loop(event):
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if latest_data:
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rospy.loginfo(f"Sending angles: {latest_data}")
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mc.send_angles(latest_data, 25)
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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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rospy.Subscriber("joint_states", JointState, callback)
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port = rospy.get_param("~port", "/dev/ttyACM0")
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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mc = MyCobot(port, baud)
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time.sleep(2) # open port,need wait
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# 启动定时器，每0.5秒执行一次控制循环
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rospy.Timer(rospy.Duration(0.5), control_loop)
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rospy.spin()
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if __name__ == "__main__":
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listener()
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