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https://github.com/elephantrobotics/mycobot_ros.git
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53 lines
1.5 KiB
Python
53 lines
1.5 KiB
Python
#!/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/ttyUSB0'
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baud: serial prot baudrate. Defaults is 115200.
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"""
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.mycobot import MyCobot
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mc = None
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gripper_value = []
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def callback(data):
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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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data_list.append(round(value,3))
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# print(data_list[6:])
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data_list = data_list[:7]
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print("radians:%s"%data_list[:6])
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mc.send_radians(data_list[:6], 80)
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gripper_value = int(abs(-0.7-data_list[6])* 117)
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print("gripper_value:%s"%gripper_value)
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mc.set_gripper_value(gripper_value, 80, 1)
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def listener():
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global mc
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global gripper_value
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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")
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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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# 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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