mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-14 09:00:53 +00:00
51 lines
1.3 KiB
Python
51 lines
1.3 KiB
Python
#!/usr/bin/env python2
|
||
|
||
"""[summary]
|
||
This file obtains the joint angle of the manipulator in ROS,
|
||
and then sends it directly to the real manipulator using `pymycobot` API.
|
||
This file is [slider_control.launch] related script.
|
||
Passable parameters:
|
||
port: serial prot string. Defaults is '/dev/ttyUSB0'
|
||
baud: serial prot baudrate. Defaults is 115200.
|
||
"""
|
||
import time
|
||
import math
|
||
import rospy
|
||
from sensor_msgs.msg import JointState
|
||
|
||
from pymycobot.mycobot import MyCobot
|
||
|
||
|
||
mc = None
|
||
|
||
|
||
def callback(data):
|
||
global latest_data
|
||
latest_data = [round(math.degrees(value), 2) for value in data.position]
|
||
rospy.loginfo(f"Joint angles: {latest_data}")
|
||
|
||
def control_loop(event):
|
||
if latest_data:
|
||
rospy.loginfo(f"Sending angles: {latest_data}")
|
||
mc.send_angles(latest_data, 25)
|
||
|
||
def listener():
|
||
global mc
|
||
rospy.init_node("control_slider", anonymous=True)
|
||
|
||
rospy.Subscriber("joint_states", JointState, callback)
|
||
port = rospy.get_param("~port", "/dev/ttyACM0")
|
||
baud = rospy.get_param("~baud", 115200)
|
||
print(port, baud)
|
||
mc = MyCobot(port, baud)
|
||
time.sleep(2) # open port,need wait
|
||
|
||
# 启动定时器，每0.5秒执行一次控制循环
|
||
rospy.Timer(rospy.Duration(0.5), control_loop)
|
||
|
||
rospy.spin()
|
||
|
||
|
||
|
||
if __name__ == "__main__":
|
||
listener()
|