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42 lines
1.1 KiB
Python
42 lines
1.1 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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from pymycobot.ultraArm import ultraArm
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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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rospy.Subscriber("joint_states", JointState, callback)
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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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ua = ultraArm(port, baud)
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ua.power_on()
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ua.go_zero()
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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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