mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
51 lines
1.4 KiB
Python
51 lines
1.4 KiB
Python
#!/usr/bin/env python
|
|
|
|
"""
|
|
This package need `pymycobot`.
|
|
This file for test the API if right.
|
|
|
|
Just can run in Linux.
|
|
"""
|
|
|
|
import rospy
|
|
from math import pi
|
|
import time
|
|
from sensor_msgs.msg import JointState
|
|
from std_msgs.msg import Header
|
|
from pymycobot.myarmc import MyArmC
|
|
import rosnode
|
|
|
|
|
|
global mam
|
|
mam = MyArmC('/dev/ttyACM0', debug=False)
|
|
angle = mam.get_joints_angle()
|
|
angle[1] += 20
|
|
# 初始化ROS节点
|
|
rospy.init_node("pub_data")
|
|
rosnode.kill_nodes('joint_state_publisher_gui')
|
|
rospy.loginfo("已成功杀死节点")
|
|
# 创建发布者
|
|
pub = rospy.Publisher('/joint_states', JointState, queue_size=10)
|
|
# 设置发布频率
|
|
rate = rospy.Rate(50) # 50Hz
|
|
# 消息实例
|
|
joint_state = JointState()
|
|
# 发布消息
|
|
while not rospy.is_shutdown():
|
|
joint_state.header = Header()
|
|
# 填充消息内容，例如关节名称、位置、速度和力
|
|
joint_state.header.stamp = rospy.Time.now()
|
|
joint_state.name = ['joint1_to_base', 'joint2_to_joint1', 'joint3_to_joint2','joint4_to_joint3', 'joint5_to_joint4', 'endeffector_to_joint5']
|
|
angles = mam.get_joints_angle()
|
|
angles.pop(6)
|
|
angle = [a/180*pi for a in angles]
|
|
|
|
joint_state.position = angle
|
|
joint_state.effort = []
|
|
joint_state.velocity = []
|
|
# 发布消息
|
|
pub.publish(joint_state)
|
|
rospy.loginfo('消息成功发布')
|
|
# 等待，允许其他节点处理
|
|
rate.sleep()
|
|
|