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https://github.com/elephantrobotics/mycobot_ros.git
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77 lines
No EOL
2 KiB
Python
Executable file
77 lines
No EOL
2 KiB
Python
Executable file
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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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/ttyAMA1'
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baud: serial prot baudrate. Defaults is 115200.
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"""
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import math
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import time
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.mercury import Mercury
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# left arm port
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l = None
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# right arm port
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r = 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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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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print('data_list:', data_list)
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left_arm = data_list[:7]
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right_arm = data_list[7:-3]
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middle_arm = data_list[-3:]
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print('left_arm:', left_arm)
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print('right_arm:', right_arm)
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print('middle_arm:', middle_arm)
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l.send_angles(left_arm, 25)
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time.sleep(0.02)
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r.send_angles(right_arm, 25)
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time.sleep(0.02)
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r.send_angle(11, middle_arm[0], 25)
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time.sleep(0.02)
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r.send_angle(12, middle_arm[1], 25)
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time.sleep(0.02)
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r.send_angle(13, middle_arm[2], 25)
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time.sleep(0.02)
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def listener():
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global l, r
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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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port1 = rospy.get_param("~port1", "/dev/ttyS0")
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port2 = rospy.get_param("~port2", "/dev/ttyTHS1")
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baud = rospy.get_param("~baud", 115200)
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print(port1, baud)
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print(port2, baud)
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l = Mercury(port1, baud)
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r = Mercury(port2, baud)
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time.sleep(0.05)
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l.set_free_mode(1)
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r.set_free_mode(1)
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time.sleep(0.05)
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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() |